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 }

enum	MotionType { MT_UNKNOWN = 0 , MT_MOVING = 1 , MT_STATIONARY = 2 , MT_MAX_OBJECT_MOTION_LABEL = 3 }

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

optional MotionType	motion_type = 30

详细描述

在文件 perception_obstacle.proto 第 64 行定义.

成员枚举类型说明

◆ ConfidenceType

enum apollo::perception::PerceptionObstacle::ConfidenceType

枚举值
CONFIDENCE_UNKNOWN
CONFIDENCE_CNN
CONFIDENCE_RADAR

在文件 perception_obstacle.proto 第 99 行定义.

                      {
    CONFIDENCE_UNKNOWN = 0;
    CONFIDENCE_CNN = 1;
    CONFIDENCE_RADAR = 2;
  };

◆ MotionType

enum apollo::perception::PerceptionObstacle::MotionType

枚举值
MT_UNKNOWN
MT_MOVING
MT_STATIONARY
MT_MAX_OBJECT_MOTION_LABEL

在文件 perception_obstacle.proto 第 175 行定义.

                  {
    MT_UNKNOWN = 0;
    MT_MOVING = 1;
    MT_STATIONARY = 2;
    MT_MAX_OBJECT_MOTION_LABEL = 3;
  };

◆ SemanticType

enum apollo::perception::PerceptionObstacle::SemanticType

枚举值
SM_UNKNOWN
SM_IGNORE
SM_GROUND
SM_OBJECT
SM_CURB
SM_VEGETATION
SM_FENCE
SM_NOISE
SM_WALL
SM_MAX_OBJECT_SEMANTIC_LABEL

在文件 perception_obstacle.proto 第 161 行定义.

                    {
    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;
  };

◆ Source

enum apollo::perception::PerceptionObstacle::Source

枚举值
HOST_VEHICLE
V2X

在文件 perception_obstacle.proto 第 153 行定义.

              {
    HOST_VEHICLE = 0;
    V2X = 1;
  };

◆ SubType

enum apollo::perception::PerceptionObstacle::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.proto 第 116 行定义.

               {
    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;
  };

◆ Type

enum apollo::perception::PerceptionObstacle::Type

枚举值
UNKNOWN
UNKNOWN_MOVABLE
UNKNOWN_UNMOVABLE
PEDESTRIAN
BICYCLE
VEHICLE

在文件 perception_obstacle.proto 第 83 行定义.

            {
    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.
  };