feature.proto

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syntax = "proto2";
 
package apollo.prediction;
 
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/pnc_point.proto";
import "modules/common_msgs/map_msgs/map_lane.proto";
import "modules/common_msgs/perception_msgs/perception_obstacle.proto";
import "modules/common_msgs/prediction_msgs/lane_graph.proto";
import "modules/common_msgs/prediction_msgs/prediction_point.proto";
 
message Lane {
  // Features of all possible current lanes.
  repeated LaneFeature current_lane_feature = 1;
 
  // Features of the most possible current lane.
  optional LaneFeature lane_feature = 2;
 
  // Features of all nearby lanes.
  repeated LaneFeature nearby_lane_feature = 3;
 
  // Lane graph
  optional LaneGraph lane_graph = 4;
  optional LaneGraph lane_graph_ordered = 5;
 
  // For modeling
  optional double label_update_time_delta = 26;
}
 
message LaneFeature {
  optional string lane_id = 1;
  optional uint32 lane_turn_type = 2;
  optional double lane_s = 3;
  optional double lane_l = 4;
  optional double angle_diff = 5;
  optional double dist_to_left_boundary = 6;
  optional double dist_to_right_boundary = 7;
  optional double lane_heading = 8;
  optional apollo.hdmap.Lane.LaneType lane_type = 9;
}
 
message JunctionExit {
  optional string exit_lane_id = 1;
  optional apollo.common.Point3D exit_position = 2;
  optional double exit_heading = 3;
  optional double exit_width = 4;
}
 
message JunctionFeature {
  optional string junction_id = 1;
  optional double junction_range = 2;
  optional LaneFeature enter_lane = 3;
  repeated JunctionExit junction_exit = 4;
  repeated double junction_mlp_feature = 5;
  repeated int32 junction_mlp_label = 6;  // dim is number of masks, i.e. 12
  repeated double junction_mlp_probability = 7;
  repeated string start_lane_id = 8;
}
 
message ObstaclePriority {
  enum Priority {
    CAUTION = 1;
    NORMAL = 2;
    IGNORE = 3;
  }
  optional Priority priority = 25 [default = NORMAL];
}
 
message ObstacleInteractiveTag {
  enum InteractiveTag {
    INTERACTION = 1;
    NONINTERACTION = 2;
  }
  optional InteractiveTag interactive_tag = 37 [default = NONINTERACTION];
}
message Trajectory {
  optional double probability = 1;  // probability of this trajectory
  repeated apollo.common.TrajectoryPoint trajectory_point = 2;
}
 
// next id = 40
message Feature {
  // Obstacle ID
  optional int32 id = 1;
 
  // Obstacle features
  repeated apollo.common.Point3D polygon_point = 30;
  optional apollo.common.Point3D position = 2;
  optional apollo.common.Point3D front_position = 27;
  optional apollo.common.Point3D velocity = 3;
  optional apollo.common.Point3D raw_velocity = 28;  // from perception
  optional apollo.common.Point3D acceleration = 4;
  optional double velocity_heading = 5;
  optional double speed = 6;
  optional double acc = 7;
  optional double theta = 8;
  optional double length = 9;
  optional double width = 10;
  optional double height = 11;
  optional double tracking_time = 12;
  optional double timestamp = 13;
 
  // Obstacle type-specific features
  optional Lane lane = 14;
  optional JunctionFeature junction_feature = 26;
 
  // Obstacle tracked features
  optional apollo.common.Point3D t_position = 16;
  optional apollo.common.Point3D t_velocity = 17 [deprecated = true];
  optional double t_velocity_heading = 18 [deprecated = true];
  optional double t_speed = 19 [deprecated = true];
  optional apollo.common.Point3D t_acceleration = 20 [deprecated = true];
  optional double t_acc = 21 [deprecated = true];
 
  optional bool is_still = 22 [default = false];
  optional apollo.perception.PerceptionObstacle.Type type = 23;
  optional double label_update_time_delta = 24;
 
  optional ObstaclePriority priority = 25;
  optional ObstacleInteractiveTag interactive_tag = 37;
 
  optional bool is_near_junction = 29 [default = false];
 
  // Obstacle ground-truth labels:
  repeated PredictionTrajectoryPoint future_trajectory_points = 31;
 
  // Obstacle short-term predicted trajectory points
  repeated apollo.common.TrajectoryPoint
      short_term_predicted_trajectory_points = 32;
 
  // Obstacle predicted trajectories
  repeated Trajectory predicted_trajectory = 33;
 
  // ADC trajectory at the same frame, and ADC trajectory timestamp
  repeated apollo.common.TrajectoryPoint adc_trajectory_point = 34;
  optional double adc_timestamp = 38;
  optional apollo.perception.PerceptionObstacle adc_localization = 39;
 
  // Surrounding lanes
  repeated string surrounding_lane_id = 35;
  repeated string within_lane_id = 36;
}
 
message ObstacleHistory {
  repeated Feature feature = 1;
  optional bool is_trainable = 2 [default = false];
}
 
message FrameEnv {
  optional double timestamp = 1;
  optional ObstacleHistory ego_history = 2;
  repeated ObstacleHistory obstacles_history = 3;
}