Apollo 10.0
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apollo::perception::PerceptionObstacle结构体 参考
apollo::perception::PerceptionObstacle 的协作图:

Public 类型

enum  Type {
  UNKNOWN = 0 , UNKNOWN_MOVABLE = 1 , UNKNOWN_UNMOVABLE = 2 , PEDESTRIAN = 3 ,
  BICYCLE = 4 , VEHICLE = 5
}
 
enum  ConfidenceType { CONFIDENCE_UNKNOWN = 0 , CONFIDENCE_CNN = 1 , CONFIDENCE_RADAR = 2 }
 
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
}
 
enum  Source { HOST_VEHICLE = 0 , V2X = 1 }
 
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
}
 

Public 属性

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
 
optional Type type = 10
 
optional double timestamp = 11
 
repeated double point_cloud = 12 [packed = true]
 
optional double confidence = 13
 
optional ConfidenceType confidence_type = 14 [deprecated = true]
 
repeated apollo::common::Point3D drops = 15 [deprecated = true]
 
optional apollo::common::Point3D acceleration = 16
 
optional apollo::common::Point3D anchor_point = 17
 
optional BBox2D bbox2d = 18
 
optional SubType sub_type = 19
 
repeated SensorMeasurement measurements = 20
 
optional double height_above_ground = 21 [default = nan]
 
repeated double position_covariance = 22 [packed = true]
 
repeated double velocity_covariance = 23 [packed = true]
 
repeated double acceleration_covariance = 24 [packed = true]
 
optional LightStatus light_status = 25
 
optional DebugMessage msg = 26
 
optional Source source = 27 [default = HOST_VEHICLE]
 
optional V2XInformation v2x_info = 28
 
optional SemanticType semantic_type = 29
 

详细描述

在文件 perception_obstacle.proto64 行定义.

成员枚举类型说明

◆ ConfidenceType

◆ SemanticType

◆ Source

◆ SubType

枚举值
ST_UNKNOWN 
ST_UNKNOWN_MOVABLE 
ST_UNKNOWN_UNMOVABLE 
ST_CAR 
ST_VAN 
ST_TRUCK 
ST_BUS 
ST_CYCLIST 
ST_MOTORCYCLIST 
ST_TRICYCLIST 
ST_PEDESTRIAN 
ST_TRAFFICCONE 
ST_SMALLMOT 
ST_BIGMOT 
ST_NONMOT 

在文件 perception_obstacle.proto116 行定义.

116 {
117 ST_UNKNOWN = 0;
120 ST_CAR = 3;
121 ST_VAN = 4;
122 ST_TRUCK = 5;
123 ST_BUS = 6;
124 ST_CYCLIST = 7;
125 ST_MOTORCYCLIST = 8;
126 ST_TRICYCLIST = 9;
127 ST_PEDESTRIAN = 10;
128 ST_TRAFFICCONE = 11;
129 ST_SMALLMOT = 12;
130 ST_BIGMOT = 13;
131 ST_NONMOT = 14;
132 };

◆ Type

枚举值
UNKNOWN 
UNKNOWN_MOVABLE 
UNKNOWN_UNMOVABLE 
PEDESTRIAN 
BICYCLE 
VEHICLE 

在文件 perception_obstacle.proto83 行定义.

类成员变量说明

◆ acceleration

optional apollo::common::Point3D apollo::perception::PerceptionObstacle::acceleration = 16

在文件 perception_obstacle.proto109 行定义.

◆ acceleration_covariance

repeated double apollo::perception::PerceptionObstacle::acceleration_covariance = 24 [packed = true]

在文件 perception_obstacle.proto145 行定义.

◆ anchor_point

optional apollo::common::Point3D apollo::perception::PerceptionObstacle::anchor_point = 17

在文件 perception_obstacle.proto113 行定义.

◆ bbox2d

optional BBox2D apollo::perception::PerceptionObstacle::bbox2d = 18

在文件 perception_obstacle.proto114 行定义.

◆ confidence

optional double apollo::perception::PerceptionObstacle::confidence = 13

在文件 perception_obstacle.proto98 行定义.

◆ confidence_type

optional ConfidenceType apollo::perception::PerceptionObstacle::confidence_type = 14 [deprecated = true]

在文件 perception_obstacle.proto104 行定义.

◆ drops

repeated apollo::common::Point3D apollo::perception::PerceptionObstacle::drops = 15 [deprecated = true]

在文件 perception_obstacle.proto106 行定义.

◆ height

optional double apollo::perception::PerceptionObstacle::height = 7

在文件 perception_obstacle.proto76 行定义.

◆ height_above_ground

optional double apollo::perception::PerceptionObstacle::height_above_ground = 21 [default = nan]

在文件 perception_obstacle.proto138 行定义.

◆ id

optional int32 apollo::perception::PerceptionObstacle::id = 1

在文件 perception_obstacle.proto65 行定义.

◆ length

optional double apollo::perception::PerceptionObstacle::length = 5

在文件 perception_obstacle.proto74 行定义.

◆ light_status

optional LightStatus apollo::perception::PerceptionObstacle::light_status = 25

在文件 perception_obstacle.proto148 行定义.

◆ measurements

repeated SensorMeasurement apollo::perception::PerceptionObstacle::measurements = 20

在文件 perception_obstacle.proto135 行定义.

◆ msg

optional DebugMessage apollo::perception::PerceptionObstacle::msg = 26

在文件 perception_obstacle.proto151 行定义.

◆ point_cloud

repeated double apollo::perception::PerceptionObstacle::point_cloud = 12 [packed = true]

在文件 perception_obstacle.proto96 行定义.

◆ polygon_point

repeated apollo::common::Point3D apollo::perception::PerceptionObstacle::polygon_point = 8

在文件 perception_obstacle.proto78 行定义.

◆ position

optional apollo::common::Point3D apollo::perception::PerceptionObstacle::position = 2

在文件 perception_obstacle.proto68 行定义.

◆ position_covariance

repeated double apollo::perception::PerceptionObstacle::position_covariance = 22 [packed = true]

在文件 perception_obstacle.proto141 行定义.

◆ semantic_type

optional SemanticType apollo::perception::PerceptionObstacle::semantic_type = 29

在文件 perception_obstacle.proto173 行定义.

◆ source

optional Source apollo::perception::PerceptionObstacle::source = 27 [default = HOST_VEHICLE]

在文件 perception_obstacle.proto158 行定义.

◆ sub_type

optional SubType apollo::perception::PerceptionObstacle::sub_type = 19

在文件 perception_obstacle.proto133 行定义.

◆ theta

optional double apollo::perception::PerceptionObstacle::theta = 3

在文件 perception_obstacle.proto70 行定义.

◆ timestamp

optional double apollo::perception::PerceptionObstacle::timestamp = 11

在文件 perception_obstacle.proto92 行定义.

◆ tracking_time

optional double apollo::perception::PerceptionObstacle::tracking_time = 9

在文件 perception_obstacle.proto81 行定义.

◆ type

optional Type apollo::perception::PerceptionObstacle::type = 10

在文件 perception_obstacle.proto91 行定义.

◆ v2x_info

optional V2XInformation apollo::perception::PerceptionObstacle::v2x_info = 28

在文件 perception_obstacle.proto159 行定义.

◆ velocity

optional apollo::common::Point3D apollo::perception::PerceptionObstacle::velocity = 4

在文件 perception_obstacle.proto71 行定义.

◆ velocity_covariance

repeated double apollo::perception::PerceptionObstacle::velocity_covariance = 23 [packed = true]

在文件 perception_obstacle.proto143 行定义.

◆ width

optional double apollo::perception::PerceptionObstacle::width = 6

在文件 perception_obstacle.proto75 行定义.


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