perception_obstacle.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/geometry.proto";
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/basic_msgs/pnc_point.proto";
import "modules/common_msgs/map_msgs/map_lane.proto";
 
message BBox2D {
  optional double xmin = 1;  // in pixels.
  optional double ymin = 2;  // in pixels.
  optional double xmax = 3;  // in pixels.
  optional double ymax = 4;  // in pixels.
}
 
message LightStatus {
  optional double brake_visible = 1;
  optional double brake_switch_on = 2;
  optional double left_turn_visible = 3;
  optional double left_turn_switch_on = 4;
  optional double right_turn_visible = 5;
  optional double right_turn_switch_on = 6;
}
 
message V2XInformation {
  enum V2XType {
    NONE = 0;
    ZOMBIES_CAR = 1;
    BLIND_ZONE = 2;
  };
  repeated V2XType v2x_type = 1;
}
 
message SensorMeasurement {
  optional string sensor_id = 1;
  optional int32 id = 2;
 
  optional apollo.common.Point3D position = 3;
  optional double theta = 4;
  optional double length = 5;
  optional double width = 6;
  optional double height = 7;
 
  optional apollo.common.Point3D velocity = 8;
 
  optional PerceptionObstacle.Type type = 9;
  optional PerceptionObstacle.SubType sub_type = 10;
  optional double timestamp = 11;
  optional BBox2D box = 12;  // only for camera measurements
}
 
message Trajectory {
  optional double probability = 1;  // probability of this trajectory
  repeated apollo.common.TrajectoryPoint trajectory_point = 2;
}
 
message DebugMessage {
  // can have multiple trajectories per obstacle
  repeated Trajectory trajectory = 1;
}
 
message PerceptionObstacle {
  optional int32 id = 1;  // obstacle ID.
 
  // obstacle position in the world coordinate system.
  optional apollo.common.Point3D position = 2;
 
  optional double theta = 3;  // heading in the world coordinate system.
  optional apollo.common.Point3D velocity = 4;  // obstacle velocity.
 
  // Size of obstacle bounding box.
  optional double length = 5;  // obstacle length.
  optional double width = 6;   // obstacle width.
  optional double height = 7;  // obstacle height.
 
  repeated apollo.common.Point3D polygon_point = 8;  // obstacle corner points.
 
  // duration of an obstacle since detection in s.
  optional double tracking_time = 9;
 
  enum Type {
    UNKNOWN = 0;
    UNKNOWN_MOVABLE = 1;
    UNKNOWN_UNMOVABLE = 2;
    PEDESTRIAN = 3;  // Pedestrian, usually determined by moving behavior.
    BICYCLE = 4;     // bike, motor bike
    VEHICLE = 5;     // Passenger car or truck.
  };
  optional Type type = 10;         // obstacle type
  optional double timestamp = 11;  // GPS time in seconds.
 
  // Just for offline debugging, will not fill this field on board.
  // Format: [x0, y0, z0, x1, y1, z1...]
  repeated double point_cloud = 12 [packed = true];
 
  optional double confidence = 13;
  enum ConfidenceType {
    CONFIDENCE_UNKNOWN = 0;
    CONFIDENCE_CNN = 1;
    CONFIDENCE_RADAR = 2;
  };
  optional ConfidenceType confidence_type = 14 [deprecated = true];
  // trajectory of object.
  repeated apollo.common.Point3D drops = 15 [deprecated = true];
 
  // The following fields are new added in Apollo 4.0
  optional apollo.common.Point3D acceleration = 16;  // obstacle acceleration
 
  // a stable obstacle point in the world coordinate system
  // position defined above is the obstacle bounding box ground center
  optional apollo.common.Point3D anchor_point = 17;
  optional BBox2D bbox2d = 18;
 
  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;
    ST_SMALLMOT = 12;
    ST_BIGMOT = 13;
    ST_NONMOT = 14;
  };
  optional SubType sub_type = 19;  // obstacle sub_type
 
  repeated SensorMeasurement measurements = 20;  // sensor measurements
 
  // orthogonal distance between obstacle lowest point and ground plane
  optional double height_above_ground = 21 [default = nan];
 
  // position covariance which is a row-majored 3x3 matrix
  repeated double position_covariance = 22 [packed = true];
  // velocity covariance which is a row-majored 3x3 matrix
  repeated double velocity_covariance = 23 [packed = true];
  // acceleration covariance which is a row-majored 3x3 matrix
  repeated double acceleration_covariance = 24 [packed = true];
 
  // lights of vehicles
  optional LightStatus light_status = 25;
 
  // Debug Message
  optional DebugMessage msg = 26;
 
  enum Source {
    HOST_VEHICLE = 0;
    V2X = 1;
  };
 
  optional Source source = 27 [default = HOST_VEHICLE];
  optional V2XInformation v2x_info = 28;
 
  enum SemanticType {
    SM_UNKNOWN = 0;
    SM_IGNORE = 1;
    SM_GROUND = 2;
    SM_OBJECT = 3;
    SM_CURB = 4;
    SM_VEGETATION = 5;
    SM_FENCE = 6;
    SM_NOISE = 7;
    SM_WALL = 8;
    SM_MAX_OBJECT_SEMANTIC_LABEL = 9;
  };
  optional SemanticType semantic_type = 29;
 
  enum MotionType {
    MT_UNKNOWN = 0;
    MT_MOVING = 1;
    MT_STATIONARY = 2;
    MT_MAX_OBJECT_MOTION_LABEL = 3;
  };
  optional MotionType motion_type = 30;
}
 
message LaneMarker {
  optional apollo.hdmap.LaneBoundaryType.Type lane_type = 1;
  optional double quality = 2;  // range = [0,1]; 1 = the best quality
  optional int32 model_degree = 3;
 
  // equation X = c3 * Z^3 + c2 * Z^2 + c1 * Z + c0
  optional double c0_position = 4;
  optional double c1_heading_angle = 5;
  optional double c2_curvature = 6;
  optional double c3_curvature_derivative = 7;
  optional double view_range = 8;
  optional double longitude_start = 9;
  optional double longitude_end = 10;
}
 
message LaneMarkers {
  optional LaneMarker left_lane_marker = 1;
  optional LaneMarker right_lane_marker = 2;
  repeated LaneMarker next_left_lane_marker = 3;
  repeated LaneMarker next_right_lane_marker = 4;
}
 
message CIPVInfo {
  optional int32 cipv_id = 1;
  repeated int32 potential_cipv_id = 2;
}
 
message PerceptionWaste {
  optional int32 id = 1;
 
  optional apollo.common.Point3D position = 2;
  optional double theta = 3;
  optional apollo.common.Point3D velocity = 4;
  optional double length = 5;
  optional double width = 6;
  optional double height = 7;
  repeated apollo.common.Point3D polygon_point = 8;
  optional double tracking_time = 9;
 
  enum Type {
    UNKNOWN = 0;
    CAN = 1;
    CIGARETTE = 2;
    CIGARETTE_CASE = 3;  
    PEEL = 4;
    PACKAGE = 5;
    PLASTIC_BAG = 6;
    BOTTLES = 7;
    SHELL = 8;
    LEAF = 9;
    PAPER_CUP = 10;
    CUBE = 11;
    WIRE = 12;
  };
  optional Type type = 10;
 
  optional double timestamp = 11;  
  optional double confidence = 12;
  optional BBox2D bbox2d = 13;
  optional DebugMessage msg = 14;
}
 
message PerceptionObstacles {
  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 LaneMarkers lane_marker = 4;
  optional CIPVInfo cipv_info = 5;  // Closest In Path Vehicle (CIPV)
  repeated PerceptionWaste perception_waste = 6;  // An array of wastes
}
 
message PerceptionEdgeInfo {
  optional apollo.common.Header header = 1;
  optional bool is_useable = 2 [default = false];
  repeated apollo.common.Point3D edge_point = 3;
  repeated apollo.common.Point3D edge_relative_point = 4;
  optional double delta_s = 5 [default = 0.2];
  optional double edge_length = 6;
  optional bool is_smoother_succ = 7 [default = false];
  optional bool is_cross_localization = 8 [default = false];
}
 
message PerceptionAccurateDockInfo {
  optional apollo.common.Header header = 1;
  optional bool is_useable = 2 [default = false];
  optional apollo.common.Point3D relative_position = 3;
  repeated apollo.common.Point3D relative_path_position = 4;
  optional double relative_heading = 5;
}