camera_update.proto

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syntax = "proto2";
 
package apollo.dreamview;
import "modules/common_msgs/perception_msgs/perception_obstacle.proto";
 
 
message CameraUpdate {
  // The transformation matrix of localization in world coordinate system
  // are stored in the double array in column-major order
  repeated double localization = 1;
 
  // The transformation matrix of localization to camera are stored in the
  // double array in column-major order
  repeated double localization2camera_tf = 2;
 
  // Camera image data
  optional bytes image = 3;
 
  // Camera image aspect ratio = width / height
  optional double image_aspect_ratio = 4;
  repeated apollo.perception.BBox2D bbox2d = 5;
  repeated int32 obstacles_id = 6;
  enum SubType{
    ST_UNKNOWN = 0;
    ST_UNKNOWN_MOVABLE = 1;
    ST_UNKNOWN_UNMOVABLE = 2;
    ST_CAR = 3;
    ST_VAN = 4;
    ST_TRUCK = 5;
    ST_BUS = 6;
    ST_CYCLIST = 7;
    ST_MOTORCYCLIST = 8;
    ST_TRICYCLIST = 9;
    ST_PEDESTRIAN = 10;
    ST_TRAFFICCONE = 11;
  }
  repeated SubType obstacles_sub_type = 7;
  optional double k_image_scale = 8;
}