perception_camera.proto

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syntax = "proto2";
 
package apollo.perception.camera;
 
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/perception_msgs/perception_obstacle.proto";
 
enum CameraErrorCode {
  ERROR_NONE = 0;
  ERROR_UNKNOWN = 1;
}
 
enum LaneLineType {
  WHITE_DASHED = 0;
  WHITE_SOLID = 1;
  YELLOW_DASHED = 2;
  YELLOW_SOLID = 3;
}
 
enum LaneLinePositionType {
  BOLLARD_LEFT = -5;
  FOURTH_LEFT = -4;
  THIRD_LEFT = -3;
  ADJACENT_LEFT = -2;  
  EGO_LEFT = -1;       
  EGO_RIGHT = 1;       
  ADJACENT_RIGHT = 2;  
  THIRD_RIGHT = 3;
  FOURTH_RIGHT = 4;
  BOLLARD_RIGHT = 5;
  OTHER = 6;    
  UNKNOWN = 7;  
}
 
enum LaneLineUseType {
  REAL = 0;
  VIRTUAL = 1;
}
 
message LaneLineCubicCurve {
  optional float longitude_min = 1;
  optional float longitude_max = 2;
  optional float a = 3;
  optional float b = 4;
  optional float c = 5;
  optional float d = 6;
}
 
message EndPoints {
  optional apollo.common.Point2D start = 1;
  optional apollo.common.Point2D end = 2;
}
 
message CameraLaneLine {
  optional LaneLineType type = 1;
  optional LaneLinePositionType pos_type = 2;
  // @brief camera coordinate system
  optional LaneLineCubicCurve curve_camera_coord = 3;
  // @brief image coordinate system
  optional LaneLineCubicCurve curve_image_coord = 4;
  // @brief curve camera point set
  repeated apollo.common.Point3D curve_camera_point_set = 5;
  // @brief curve image point set
  repeated apollo.common.Point2D curve_image_point_set = 6;
 
  // @brief image end point set
  repeated EndPoints image_end_point_set = 7;
  // @brief track id
  optional int32 track_id = 8;
  // @brief confidence for lane line
  optional float confidence = 9;
 
  optional LaneLineUseType use_type = 10;
}
 
message CameraCalibrator {
  optional float pitch_angle = 1;
  optional float camera_height = 2;
}
 
message CameraObstacle {
  optional PerceptionObstacle obstacle = 1;  // PerceptionObstacle
 
  // 2D information
  enum CameraType {
    UNKNOWN = 0;
    UNKNOWN_MOVABLE = 1;
    UNKNOWN_UNMOVABLE = 2;
    PEDESTRIAN = 3;  // Pedestrian, usually determined by moving behaviour.
    BICYCLE = 4;     // bike, motor bike
    VEHICLE = 5;     // Passenger car or truck.
  };
 
  optional CameraType type = 21;   // obstacle type
  repeated float type_probs = 22;  // obstacle type
  optional apollo.common.Point2D upper_left =
      23;  // upper left corner of 2D bbox
  optional apollo.common.Point2D lower_right =
      24;  // lower right corner of 2D bbox
  repeated apollo.common.Point2D key_points = 25;  // 2D key points
  repeated string debug_message = 26;              // debug message
}
 
//
message CameraDebug {
  optional apollo.common.Header header = 1;  // header
  optional string source_topic = 2;          // which topic to get the frame
  optional CameraErrorCode error_code = 3 [default = ERROR_NONE];  // error code
  optional CameraCalibrator camera_calibrator = 4;
  repeated CameraLaneLine camera_laneline = 5;
  repeated CameraObstacle camera_obstacle = 6;  // an array of obstacles
}