oculii_radar.proto

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syntax = "proto2";
 
package apollo.drivers;
 
import "modules/common_msgs/basic_msgs/error_code.proto";
import "modules/common_msgs/basic_msgs/header.proto";
 
message OculiiRawPointcloud {
    optional float range = 1;
    optional float doppler = 2;
    optional float azimuth = 3;
    optional float elevation = 4;
    optional float power = 5;
}
 
message OculiiPointXYZIV {
  optional float x = 1 [default = nan];
  optional float y = 2 [default = nan];
  optional float z = 3 [default = nan];
  optional float intensity = 4 [default = 0];
  optional float velocity = 5 [default = 0];
}
 
message OculiiTrackTarget {
    enum ObstacleClass {
        UNKNOWN = 0;
        PEDESTRIAN = 1;
        BICYCLE = 2;
        VEHICLE = 3;
        TRUCK = 4;
        BACKGROUND = 5;
    }
    optional int64 id = 1;
    optional float x_pos = 2;
    optional float y_pos = 3;
    optional float z_pos = 4;
    optional float x_dot = 5;
    optional float y_dot = 6;
    optional float z_dot = 7;
    optional int32 confidence = 8;
    optional ObstacleClass track_class = 9;
}
 
message OculiiPointCloud {
    optional apollo.common.Header header = 1;
    optional string frame_id = 2;
    optional bool is_dense = 3;
    repeated OculiiPointXYZIV point = 4;
    optional double measurement_time = 5;
    optional int32 width = 6;
    optional int32 height = 7;
    optional int64 packet_id = 8;
    optional float ego_speed = 9;
    optional float ego_angle = 10;
    optional int32 detection_size = 11;
    optional int32 track_size = 12;
    repeated OculiiRawPointcloud raw_pointclouds = 13;
    repeated OculiiTrackTarget tracks = 14;
}