perception_benchmark.proto

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syntax = "proto2";
 
package apollo.perception;
 
import "modules/common_msgs/basic_msgs/error_code.proto";
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/perception_msgs/perception_obstacle.proto";
 
message SensorFrameInfo {
  optional string sensor_id = 1;
  optional double timestamp = 2;
  repeated double sensor2world_pose = 3;  // size should be 16
}
 
// For perception benchmark
message PerceptionBenchmarkFrame {
  repeated PerceptionObstacle perception_obstacle = 1;  // An array of obstacles
  optional apollo.common.Header header = 2;             // Header
  optional apollo.common.ErrorCode error_code = 3 [default = OK];
  optional SensorFrameInfo sensor_frame_info = 4;
}