6_prediction.pb.txt

浏览该文件的文档.

header {
  timestamp_sec: 1516822637.1201637
  module_name: "prediction"
  sequence_num: 5986
}
prediction_obstacle {
  perception_obstacle {
    id: 3843
    position {
      x: 586713.34243652306
      y: 4140278.1246991223
      z: -27.657634512998275
    }
    theta: -1.8273884765711224
    velocity {
      x: 0
      y: 0
      z: 0
    }
    length: 2.9969987869262695
    width: 0.53520071506500244
    height: 0.6061248779296875
    polygon_point {
      x: 586713.980073688
      y: 4140279.508263703
      z: -27.653895866374928
    }
    polygon_point {
      x: 586713.2656897374
      y: 4140277.0970994607
      z: -27.668990340570851
    }
    polygon_point {
      x: 586712.99539056187
      y: 4140276.6671608309
      z: -27.670872533475084
    }
    polygon_point {
      x: 586713.25036745926
      y: 4140278.845144067
      z: -27.65502746746342
    }
    tracking_time: 12.506649017333984
    type: VEHICLE
    timestamp: 1516822637.0498815
  }
  timestamp: 1516822637.0498815
  predicted_period: 5
}
prediction_obstacle {
  perception_obstacle {
    id: 3868
    position {
      x: 586711.80282470665
      y: 4140272.1026043957
      z: -27.9388808175103
    }
    theta: -1.8273888815706425
    velocity {
      x: 0
      y: 0
      z: 0
    }
    length: 2.7788069248199463
    width: 0.68255233764648438
    height: 1.5780502557754517
    polygon_point {
      x: 586712.44645763352
      y: 4140273.3751187716
      z: -27.936324564542872
    }
    polygon_point {
      x: 586712.12014475407
      y: 4140271.9839667589
      z: -27.945519735579012
    }
    polygon_point {
      x: 586711.72355960519
      y: 4140270.6910623186
      z: -27.9535370619306
    }
    polygon_point {
      x: 586711.301333765
      y: 4140271.5824627555
      z: -27.944070017109294
    }
    polygon_point {
      x: 586711.59052536916
      y: 4140272.2135649566
      z: -27.940697960193642
    }
    tracking_time: 11.444138765335083
    type: VEHICLE
    timestamp: 1516822637.0498815
  }
  timestamp: 1516822637.0498815
  predicted_period: 5
}
prediction_obstacle {
  perception_obstacle {
    id: 3873
    position {
      x: 586710.18368408165
      y: 4140264.8372235363
      z: -27.923714177228621
    }
    theta: -1.8342405445578867
    velocity {
      x: 0
      y: 0
      z: 0
    }
    length: 3.99853515625
    width: 1.1777455806732178
    height: 1.4681692123413086
    polygon_point {
      x: 586711.01325920783
      y: 4140266.6861321195
      z: -27.91773781385124
    }
    polygon_point {
      x: 586711.06129557791
      y: 4140266.5749902222
      z: -27.918892093814243
    }
    polygon_point {
      x: 586710.7079802535
      y: 4140264.5206313748
      z: -27.933198934890527
    }
    polygon_point {
      x: 586710.2231359604
      y: 4140263.4180175439
      z: -27.939205913535179
    }
    polygon_point {
      x: 586710.09213274543
      y: 4140263.1443589572
      z: -27.940636370353179
    }
    polygon_point {
      x: 586709.83161888563
      y: 4140262.960715415
      z: -27.940618868898838
    }
    polygon_point {
      x: 586709.721429656
      y: 4140262.9245826909
      z: -27.940281696903945
    }
    polygon_point {
      x: 586709.6141971664
      y: 4140262.9223943213
      z: -27.939691816053074
    }
    polygon_point {
      x: 586709.37555963092
      y: 4140263.1802958846
      z: -27.936293182338257
    }
    polygon_point {
      x: 586709.71195378283
      y: 4140265.391857869
      z: -27.920642627689777
    }
    tracking_time: 11.205976009368896
    type: VEHICLE
    timestamp: 1516822637.0498815
  }
  timestamp: 1516822637.0498815
  predicted_period: 5
}
prediction_obstacle {
  perception_obstacle {
    id: 3881
    position {
      x: 586706.45382568322
      y: 4140253.7351727551
      z: -27.928802029706649
    }
    theta: -1.8420534626284106
    velocity {
      x: 0
      y: 0
      z: 0
    }
    length: 4.4995102882385254
    width: 2.0031960010528564
    height: 1.7279908657073975
    polygon_point {
      x: 586707.86491447047
      y: 4140255.6799017414
      z: -27.930087581108804
    }
    polygon_point {
      x: 586707.70116997533
      y: 4140254.5699967258
      z: -27.937970809973546
    }
    polygon_point {
      x: 586707.333392679
      y: 4140253.1626831833
      z: -27.9470594614526
    }
    polygon_point {
      x: 586706.78960969776
      y: 4140251.8386064321
      z: -27.954490661811782
    }
    polygon_point {
      x: 586706.27356875723
      y: 4140251.6972795185
      z: -27.952690210696606
    }
    polygon_point {
      x: 586705.93558311008
      y: 4140251.615987977
      z: -27.951421512798408
    }
    polygon_point {
      x: 586705.69643565954
      y: 4140251.6149010528
      z: -27.950075860699993
    }
    polygon_point {
      x: 586705.08756984514
      y: 4140252.22376335
      z: -27.941794691008859
    }
    polygon_point {
      x: 586705.10679966607
      y: 4140252.6344491304
      z: -27.938643535269474
    }
    polygon_point {
      x: 586705.534394489
      y: 4140254.0769369733
      z: -27.929614411358692
    }
    polygon_point {
      x: 586705.61078612541
      y: 4140254.2337807324
      z: -27.928801976377336
    }
    polygon_point {
      x: 586706.84941885958
      y: 4140255.5402185465
      z: -27.925445694946479
    }
    tracking_time: 10.708417177200317
    type: VEHICLE
    timestamp: 1516822637.0498815
  }
  timestamp: 1516822637.0498815
  predicted_period: 5
}
prediction_obstacle {
  perception_obstacle {
    id: 3902
    position {
      x: 586708.27267333947
      y: 4140259.1884198254
      z: -27.892393366910628
    }
    theta: -1.828393057672447
    velocity {
      x: 0
      y: 0
      z: 0
    }
    length: 3.8381452560424805
    width: 1.1582775115966797
    height: 1.3888123035430908
    polygon_point {
      x: 586709.22636215319
      y: 4140260.925503768
      z: -27.883721159988369
    }
    polygon_point {
      x: 586709.26663664251
      y: 4140260.890014804
      z: -27.884230946379642
    }
    polygon_point {
      x: 586709.27115978813
      y: 4140260.7991883159
      z: -27.884977547920968
    }
    polygon_point {
      x: 586709.15350211237
      y: 4140260.277362125
      z: -27.888453552159664
    }
    polygon_point {
      x: 586708.78571313433
      y: 4140258.8628648692
      z: -27.897599162320077
    }
    polygon_point {
      x: 586708.3490820789
      y: 4140257.6980470754
      z: -27.904372949675217
    }
    polygon_point {
      x: 586708.16691584792
      y: 4140257.3685822017
      z: -27.905956667182519
    }
    polygon_point {
      x: 586708.05498237454
      y: 4140257.2614546739
      z: -27.906173179477562
    }
    polygon_point {
      x: 586708.03233331838
      y: 4140257.3250465137
      z: -27.90554012239668
    }
    polygon_point {
      x: 586707.85847259325
      y: 4140259.9297968214
      z: -27.883878862429572
    }
    polygon_point {
      x: 586708.20812504017
      y: 4140260.6116591645
      z: -27.880446254622402
    }
    tracking_time: 9.5050928592681885
    type: VEHICLE
    timestamp: 1516822637.0498815
  }
  timestamp: 1516822637.0498815
  predicted_period: 5
}
prediction_obstacle {
  perception_obstacle {
    id: 3959
    position {
      x: 586712.39694091759
      y: 4140238.3002362316
      z: -27.878314153768233
    }
    theta: 1.210235926364791
    velocity {
      x: 2.7757228096753819
      y: 7.3155380413578364
      z: 0
    }
    length: 9.7539701461792
    width: 3.9899356365203857
    height: 2.7251038551330566
    polygon_point {
      x: 586714.18271025864
      y: 4140242.4358444172
      z: -27.868904508102624
    }
    polygon_point {
      x: 586714.277967159
      y: 4140242.3630717313
      z: -27.870021618034087
    }
    polygon_point {
      x: 586712.81998595747
      y: 4140233.7695948333
      z: -27.929980780281841
    }
    polygon_point {
      x: 586712.39932324819
      y: 4140233.384717274
      z: -27.930653773913889
    }
    polygon_point {
      x: 586710.40298449679
      y: 4140233.8868024126
      z: -27.915363018377953
    }
    polygon_point {
      x: 586710.22037311143
      y: 4140233.9330277159
      z: -27.913961959356079
    }
    polygon_point {
      x: 586709.98371643666
      y: 4140233.9985652724
      z: -27.912101542473749
    }
    polygon_point {
      x: 586709.88691701181
      y: 4140234.0902509079
      z: -27.910825564952802
    }
    polygon_point {
      x: 586709.82888380764
      y: 4140234.1532980176
      z: -27.909996453295996
    }
    polygon_point {
      x: 586709.76935476228
      y: 4140234.7718225503
      z: -27.904749451029495
    }
    polygon_point {
      x: 586709.81822620251
      y: 4140235.0477178432
      z: -27.902836130901097
    }
    polygon_point {
      x: 586709.94456496509
      y: 4140235.5855001793
      z: -27.899282626201689
    }
    polygon_point {
      x: 586711.14443686267
      y: 4140240.3338092109
      z: -27.86838502280705
    }
    polygon_point {
      x: 586711.466786668
      y: 4140241.4890491655
      z: -27.861040095961215
    }
    polygon_point {
      x: 586712.11496150144
      y: 4140242.9082856826
      z: -27.8534446764355
    }
    polygon_point {
      x: 586712.45184152888
      y: 4140243.420312163
      z: -27.851287908339945
    }
    polygon_point {
      x: 586712.82195739157
      y: 4140243.3652667208
      z: -27.853820810838219
    }
    tracking_time: 6.6180543899536133
    type: VEHICLE
    timestamp: 1516822637.0498815
  }
  timestamp: 1516822637.0498815
  predicted_period: 5
  trajectory {
    probability: 0.8008841812395151
    trajectory_point {
      path_point {
        x: 586712.40331189812
        y: 4140238.3250177461
        z: 0
        theta: 1.3378607790011943
        lane_id: "697_1_-1"
      }
      v: 7.7607957315158389
      a: 0.14226492745655034
      relative_time: 0
    }
    trajectory_point {
      path_point {
        x: 586712.68315960537
        y: 4140239.0267486013
        z: 0
        theta: 1.300659695431202
        lane_id: "697_1_-1"
      }
      v: 7.7753010635193087
      a: 0.14778480664186447
      relative_time: 0.1
    }
    trajectory_point {
      path_point {
        x: 586712.9694116225
        y: 4140239.7565366216
        z: 0
        theta: 1.3027197164775117
        lane_id: "697_1_-1"
      }
      v: 7.7903413116500149
      a: 0.15296325000128289
      relative_time: 0.2
    }
    trajectory_point {
      path_point {
        x: 586713.2698863718
        y: 4140240.5244774916
        z: 0
        theta: 1.3441943454208243
        lane_id: "697_1_-1"
      }
      v: 7.8058823323253685
      a: 0.15780025753480559
      relative_time: 0.30000000000000004
    }
    trajectory_point {
      path_point {
        x: 586713.54025443457
        y: 4140241.221686129
        z: 0
        theta: 1.3058656502452006
        lane_id: "697_1_-1"
      }
      v: 7.82188998196278
      a: 0.16229582924243255
      relative_time: 0.4
    }
    trajectory_point {
      path_point {
        x: 586713.82972202671
        y: 4140241.9903496453
        z: 0
        theta: 1.3360985638567664
        lane_id: "697_1_-1"
      }
      v: 7.8383301169796589
      a: 0.1664499651241638
      relative_time: 0.5
    }
    trajectory_point {
      path_point {
        x: 586714.0944509554
        y: 4140242.7073802822
        z: 0
        theta: 1.3154133858712864
        lane_id: "697_1_-1"
      }
      v: 7.8551685937934161
      a: 0.17026266517999933
      relative_time: 0.60000000000000009
    }
    trajectory_point {
      path_point {
        x: 586714.364691179
        y: 4140243.4644440925
        z: 0
        theta: 1.3266260784609827
        lane_id: "697_1_-1"
      }
      v: 7.8723712688214622
      a: 0.17373392940993915
      relative_time: 0.70000000000000007
    }
    trajectory_point {
      path_point {
        x: 586714.62309054867
        y: 4140244.2114937152
        z: 0
        theta: 1.3262354038593269
        lane_id: "697_1_-1"
      }
      v: 7.8899039984812074
      a: 0.17686375781398322
      relative_time: 0.8
    }
    trajectory_point {
      path_point {
        x: 586714.86078564031
        y: 4140244.9283615141
        z: 0
        theta: 1.3004590490633214
        lane_id: "697_1_-1"
      }
      v: 7.907732639190062
      a: 0.17965215039213162
      relative_time: 0.9
    }
    trajectory_point {
      path_point {
        x: 586715.10348476015
        y: 4140245.6931205904
        z: 0
        theta: 1.307608588475464
        lane_id: "697_1_-1"
      }
      v: 7.9258230473654372
      a: 0.18209910714438426
      relative_time: 1
    }
    trajectory_point {
      path_point {
        x: 586715.35423186352
        y: 4140246.50508826
        z: 0
        theta: 1.3448583298341958
        lane_id: "697_1_-1"
      }
      v: 7.9441410794247425
      a: 0.1842046280707412
      relative_time: 1.1
    }
    trajectory_point {
      path_point {
        x: 586715.50679978717
        y: 4140246.992650413
        z: 0
        theta: 1.3162239892660788
        lane_id: "697_1_-1"
      }
      v: 7.962652591785389
      a: 0.18596871317120242
      relative_time: 1.2000000000000002
    }
    trajectory_point {
      path_point {
        x: 586715.772325099
        y: 4140248.0110966796
        z: 0
        theta: 1.3250186735860154
        lane_id: "429_1_-1"
      }
      v: 7.9813234408647862
      a: 0.1873913624457679
      relative_time: 1.3
    }
    trajectory_point {
      path_point {
        x: 586715.97476185067
        y: 4140248.7829661793
        z: 0
        theta: 1.3242864061792394
        lane_id: "429_1_-1"
      }
      v: 8.0001194830803453
      a: 0.18847257589443767
      relative_time: 1.4000000000000001
    }
    trajectory_point {
      path_point {
        x: 586716.16927484353
        y: 4140249.5603069607
        z: 0
        theta: 1.3245126696118623
        lane_id: "429_1_-1"
      }
      v: 8.0190065748494774
      a: 0.18921235351721172
      relative_time: 1.5
    }
    trajectory_point {
      path_point {
        x: 586716.34731094807
        y: 4140250.3434469542
        z: 0
        theta: 1.3246681836894592
        lane_id: "429_1_-1"
      }
      v: 8.0379505725895921
      a: 0.18961069531409006
      relative_time: 1.6
    }
    trajectory_point {
      path_point {
        x: 586716.52547935024
        y: 4140251.1281174682
        z: 0
        theta: 1.3244652508002641
        lane_id: "429_1_-1"
      }
      v: 8.0569173327180987
      a: 0.18966760128507268
      relative_time: 1.7000000000000002
    }
    trajectory_point {
      path_point {
        x: 586716.68781280983
        y: 4140251.9185950249
        z: 0
        theta: 1.324287879072422
        lane_id: "429_1_-1"
      }
      v: 8.07587271165241
      a: 0.18938307143015956
      relative_time: 1.8
    }
    trajectory_point {
      path_point {
        x: 586716.85145804938
        y: 4140252.7108849972
        z: 0
        theta: 1.3241093500469709
        lane_id: "429_1_-1"
      }
      v: 8.0947825658099344
      a: 0.18875710574935073
      relative_time: 1.9000000000000001
    }
    trajectory_point {
      path_point {
        x: 586717.00862945127
        y: 4140253.50689186
        z: 0
        theta: 1.324017071126816
        lane_id: "429_1_-1"
      }
      v: 8.113612751608084
      a: 0.18778970424264618
      relative_time: 2
    }
    trajectory_point {
      path_point {
        x: 586717.15156185394
        y: 4140254.3083784753
        z: 0
        theta: 1.3240171293269638
        lane_id: "429_1_-1"
      }
      v: 8.1323291254642669
      a: 0.18648086691004592
      relative_time: 2.1
    }
    trajectory_point {
      path_point {
        x: 586717.29716536065
        y: 4140255.1097464529
        z: 0
        theta: 1.3228764165700015
        lane_id: "429_1_-1"
      }
      v: 8.1508975437958959
      a: 0.18483059375154995
      relative_time: 2.2
    }
    trajectory_point {
      path_point {
        x: 586717.31239850214
        y: 4140255.41240629
        z: 0
        theta: 1.3224634472396632
        lane_id: "429_1_-1"
      }
      v: 8.16928386302038
      a: 0.18283888476715823
      relative_time: 2.3000000000000003
    }
    trajectory_point {
      path_point {
        x: 586717.57297021232
        y: 4140256.7123842724
        z: 0
        theta: 1.3126430560810372
        lane_id: "9944_1_-1"
      }
      v: 8.187453939555132
      a: 0.1805057399568708
      relative_time: 2.4000000000000004
    }
    trajectory_point {
      path_point {
        x: 586717.71052908071
        y: 4140257.5180350426
        z: 0
        theta: 1.3078504569623819
        lane_id: "9944_1_-1"
      }
      v: 8.2053736298175579
      a: 0.17783115932068766
      relative_time: 2.5
    }
    trajectory_point {
      path_point {
        x: 586717.85414802155
        y: 4140258.3632569611
        z: 0
        theta: 1.3384381211870569
        lane_id: "9944_1_-1"
      }
      v: 8.223008790225073
      a: 0.1748151428586088
      relative_time: 2.6
    }
    trajectory_point {
      path_point {
        x: 586717.97612149431
        y: 4140259.1479828968
        z: 0
        theta: 1.3067349182503438
        lane_id: "9944_1_-1"
      }
      v: 8.2403252771950832
      a: 0.1714576905706342
      relative_time: 2.7
    }
    trajectory_point {
      path_point {
        x: 586718.11812107149
        y: 4140259.9935635412
        z: 0
        theta: 1.3382603068823924
        lane_id: "9944_1_-1"
      }
      v: 8.2572889471450033
      a: 0.16775880245676389
      relative_time: 2.8000000000000003
    }
    trajectory_point {
      path_point {
        x: 586718.24595466873
        y: 4140260.8215268697
        z: 0
        theta: 1.3488523658204148
        lane_id: "9944_1_-1"
      }
      v: 8.273865656492239
      a: 0.16371847851699786
      relative_time: 2.9000000000000004
    }
    trajectory_point {
      path_point {
        x: 586718.368907144
        y: 4140261.6369441841
        z: 0
        theta: 1.3417789485766907
        lane_id: "9944_1_-1"
      }
      v: 8.2900212616542053
      a: 0.15933671875133615
      relative_time: 3
    }
    trajectory_point {
      path_point {
        x: 586718.49234829808
        y: 4140262.4519117326
        z: 0
        theta: 1.3303327092316373
        lane_id: "9944_1_-1"
      }
      v: 8.30572161904831
      a: 0.15461352315977867
      relative_time: 3.1
    }
    trajectory_point {
      path_point {
        x: 586718.626812073
        y: 4140263.2798579116
        z: 0
        theta: 1.3385611576232987
        lane_id: "9944_1_-1"
      }
      v: 8.3209325850919651
      a: 0.14954889174232547
      relative_time: 3.2
    }
    trajectory_point {
      path_point {
        x: 586718.75439714442
        y: 4140264.0875969674
        z: 0
        theta: 1.306735237276766
        lane_id: "9944_1_-1"
      }
      v: 8.33562001620258
      a: 0.14414282449897656
      relative_time: 3.3000000000000003
    }
    trajectory_point {
      path_point {
        x: 586718.89095921139
        y: 4140264.9203177588
        z: 0
        theta: 1.3186523258508043
        lane_id: "9944_1_-1"
      }
      v: 8.3497497687975635
      a: 0.13839532142973193
      relative_time: 3.4000000000000004
    }
    trajectory_point {
      path_point {
        x: 586719.03105092817
        y: 4140265.752232261
        z: 0
        theta: 1.3312863302693376
        lane_id: "9944_1_-1"
      }
      v: 8.3632876992943288
      a: 0.13230638253459162
      relative_time: 3.5
    }
    trajectory_point {
      path_point {
        x: 586719.1735392249
        y: 4140266.5724029895
        z: 0
        theta: 1.313317297829883
        lane_id: "9944_1_-1"
      }
      v: 8.3761996641102847
      a: 0.12587600781355554
      relative_time: 3.6
    }
    trajectory_point {
      path_point {
        x: 586719.31995279028
        y: 4140267.4007641003
        z: 0
        theta: 1.3146997260450641
        lane_id: "9944_1_-1"
      }
      v: 8.3884515196628442
      a: 0.11910419726662373
      relative_time: 3.7
    }
    trajectory_point {
      path_point {
        x: 586719.47771690611
        y: 4140268.2309884084
        z: 0
        theta: 1.3310527088006072
        lane_id: "9944_1_-1"
      }
      v: 8.4000091223694131
      a: 0.11199095089379624
      relative_time: 3.8000000000000003
    }
    trajectory_point {
      path_point {
        x: 586719.63195155084
        y: 4140269.0556508345
        z: 0
        theta: 1.3171639182022323
        lane_id: "9944_1_-1"
      }
      v: 8.4108383286474062
      a: 0.10453626869507301
      relative_time: 3.9000000000000004
    }
    trajectory_point {
      path_point {
        x: 586719.74661123159
        y: 4140269.6925437446
        z: 0
        theta: 1.3240180711898843
        lane_id: "9944_1_-1"
      }
      v: 8.4209049949142312
      a: 0.096740150670454078
      relative_time: 4
    }
    trajectory_point {
      path_point {
        x: 586719.9700445215
        y: 4140270.7079889136
        z: 0
        theta: 1.31990010341101
        lane_id: "406_1_-1"
      }
      v: 8.4301749775873009
      a: 0.088602596819939358
      relative_time: 4.1000000000000005
    }
    trajectory_point {
      path_point {
        x: 586720.15018506115
        y: 4140271.532527396
        z: 0
        theta: 1.3199001550899849
        lane_id: "406_1_-1"
      }
      v: 8.4386141330840232
      a: 0.08012360714352898
      relative_time: 4.2
    }
    trajectory_point {
      path_point {
        x: 586720.33529633621
        y: 4140272.3559409757
        z: 0
        theta: 1.3084946961089337
        lane_id: "406_1_-1"
      }
      v: 8.44618831782181
      a: 0.071303181641222957
      relative_time: 4.3
    }
    trajectory_point {
      path_point {
        x: 586720.534464983
        y: 4140273.1776617281
        z: 0
        theta: 1.3199002566086806
        lane_id: "406_1_-1"
      }
      v: 8.4528633882180717
      a: 0.062141320313021067
      relative_time: 4.4
    }
    trajectory_point {
      path_point {
        x: 586720.72982547246
        y: 4140274.0004872507
        z: 0
        theta: 1.319208077644106
        lane_id: "406_1_-1"
      }
      v: 8.4586052006902168
      a: 0.052638023158923533
      relative_time: 4.5
    }
    trajectory_point {
      path_point {
        x: 586720.92989520624
        y: 4140274.8226810335
        z: 0
        theta: 1.3199003636552531
        lane_id: "406_1_-1"
      }
      v: 8.46337961165566
      a: 0.0427932901789302
      relative_time: 4.6000000000000005
    }
    trajectory_point {
      path_point {
        x: 586721.12518995954
        y: 4140275.6463385886
        z: 0
        theta: 1.3199004118985442
        lane_id: "406_1_-1"
      }
      v: 8.4671524775318066
      a: 0.032607121373041295
      relative_time: 4.7
    }
    trajectory_point {
      path_point {
        x: 586721.3319146015
        y: 4140276.4675885686
        z: 0
        theta: 1.3199004624519288
        lane_id: "406_1_-1"
      }
      v: 8.4698896547360718
      a: 0.022079516741256522
      relative_time: 4.8000000000000007
    }
    trajectory_point {
      path_point {
        x: 586721.43958449923
        y: 4140276.9014231213
        z: 0
        theta: 1.329315689371309
        lane_id: "406_1_-1"
      }
      v: 8.4715569996858626
      a: 0.011210476283576132
      relative_time: 4.9
    }
  }
}
prediction_obstacle {
  perception_obstacle {
    id: 4002
    position {
      x: 586710.22732421837
      y: 4140248.5053143566
      z: -27.803287880040816
    }
    theta: -1.8226236195997538
    velocity {
      x: -2.3368651854846436
      y: -9.083938949969383
      z: 0
    }
    length: 4.3570966720581055
    width: 2.1703329086303711
    height: 1.7881966829299927
    polygon_point {
      x: 586711.00984697009
      y: 4140250.5055346768
      z: -27.786767850250925
    }
    polygon_point {
      x: 586711.244601762
      y: 4140249.879987807
      z: -27.793062891066906
    }
    polygon_point {
      x: 586711.17916735925
      y: 4140247.8873249185
      z: -27.808510240604427
    }
    polygon_point {
      x: 586710.91700996272
      y: 4140247.09140258
      z: -27.81334374500323
    }
    polygon_point {
      x: 586710.80071099335
      y: 4140246.7874376094
      z: -27.815098045491077
    }
    polygon_point {
      x: 586710.716652786
      y: 4140246.6722488133
      z: -27.815536404971244
    }
    polygon_point {
      x: 586710.59464119829
      y: 4140246.5343546607
      z: -27.815940073085272
    }
    polygon_point {
      x: 586710.52878624655
      y: 4140246.5043680933
      z: -27.815805175278491
    }
    polygon_point {
      x: 586709.94910374389
      y: 4140246.33402949
      z: -27.813874622025281
    }
    polygon_point {
      x: 586709.351071067
      y: 4140246.4814375509
      z: -27.809317856774072
    }
    polygon_point {
      x: 586709.01550096855
      y: 4140246.9893023092
      z: -27.803386072924916
    }
    polygon_point {
      x: 586708.99722608563
      y: 4140247.1228777403
      z: -27.80222225179098
    }
    polygon_point {
      x: 586708.91615218925
      y: 4140247.7284832303
      z: -27.7969557943907
    }
    polygon_point {
      x: 586709.113964968
      y: 4140248.5333188586
      z: -27.791687155266974
    }
    polygon_point {
      x: 586710.054871926
      y: 4140250.1040345407
      z: -27.78454701077473
    }
    polygon_point {
      x: 586710.15010459954
      y: 4140250.2318631448
      z: -27.784071596041791
    }
    polygon_point {
      x: 586710.63262474642
      y: 4140250.6586896689
      z: -27.783415904118524
    }
    tracking_time: 4.8024899959564209
    type: VEHICLE
    timestamp: 1516822637.0498815
  }
  timestamp: 1516822637.0498815
  predicted_period: 5
  trajectory {
    probability: 0.95063798474947259
    trajectory_point {
      path_point {
        x: 586710.22732421837
        y: 4140248.5053143566
        z: 0
        theta: -1.8726357910326992
        lane_id: "743_1_-1"
      }
      v: 9.3679781617117932
      a: -0.30333296942407156
      relative_time: 0
    }
    trajectory_point {
      path_point {
        x: 586709.984276041
        y: 4140247.596191335
        z: 0
        theta: -1.9014855851412751
        lane_id: "743_1_-1"
      }
      v: 9.3370503321493157
      a: -0.31510228863772555
      relative_time: 0.1
    }
    trajectory_point {
      path_point {
        x: 586709.72671220056
        y: 4140246.7031717184
        z: 0
        theta: -1.8852991045030902
        lane_id: "743_1_-1"
      }
      v: 9.3049819706218013
      a: -0.32614360872476172
      relative_time: 0.2
    }
    trajectory_point {
      path_point {
        x: 586709.46592922125
        y: 4140245.8029113868
        z: 0
        theta: -1.9157048608832041
        lane_id: "743_1_-1"
      }
      v: 9.2718458770419172
      a: -0.33645692968518021
      relative_time: 0.30000000000000004
    }
    trajectory_point {
      path_point {
        x: 586709.20884471748
        y: 4140244.9125051624
        z: 0
        theta: -1.9148967260832377
        lane_id: "743_1_-1"
      }
      v: 9.23771485132232
      a: -0.34604225151898083
      relative_time: 0.4
    }
    trajectory_point {
      path_point {
        x: 586708.94749851292
        y: 4140244.0415856796
        z: 0
        theta: -1.8756862619460875
        lane_id: "743_1_-1"
      }
      v: 9.2026616933756742
      a: -0.35489957422616375
      relative_time: 0.5
    }
    trajectory_point {
      path_point {
        x: 586708.68262283888
        y: 4140243.145776548
        z: 0
        theta: -1.9166276064070797
        lane_id: "743_1_-1"
      }
      v: 9.16675920311464
      a: -0.36302889780672887
      relative_time: 0.60000000000000009
    }
    trajectory_point {
      path_point {
        x: 586708.40404652164
        y: 4140242.2732863766
        z: 0
        theta: -1.9176110664426902
        lane_id: "743_1_-1"
      }
      v: 9.1300801804518823
      a: -0.37043022226067618
      relative_time: 0.70000000000000007
    }
    trajectory_point {
      path_point {
        x: 586708.13148777082
        y: 4140241.4035753408
        z: 0
        theta: -1.9167331498844997
        lane_id: "743_1_-1"
      }
      v: 9.09269742530006
      a: -0.37710354758800579
      relative_time: 0.8
    }
    trajectory_point {
      path_point {
        x: 586707.86190711206
        y: 4140240.5722385184
        z: 0
        theta: -1.8464654051005778
        lane_id: "743_1_-1"
      }
      v: 9.0546837375718354
      a: -0.3830488737887176
      relative_time: 0.9
    }
    trajectory_point {
      path_point {
        x: 586707.61871790327
        y: 4140239.6840961254
        z: 0
        theta: -1.8813121338299084
        lane_id: "743_1_-1"
      }
      v: 9.01611191717987
      a: -0.38826620086281161
      relative_time: 1
    }
    trajectory_point {
      path_point {
        x: 586707.37120524875
        y: 4140238.820255511
        z: 0
        theta: -1.8787914097262339
        lane_id: "743_1_-1"
      }
      v: 8.9770547640368275
      a: -0.39275552881028786
      relative_time: 1.1
    }
    trajectory_point {
      path_point {
        x: 586707.12767186493
        y: 4140237.9654631261
        z: 0
        theta: -1.8657118326967517
        lane_id: "743_1_-1"
      }
      v: 8.9375850780553669
      a: -0.39651685763114636
      relative_time: 1.2000000000000002
    }
    trajectory_point {
      path_point {
        x: 586706.87470038084
        y: 4140237.101480518
        z: 0
        theta: -1.8813123334069672
        lane_id: "743_1_-1"
      }
      v: 8.8977756591481523
      a: -0.39955018732538705
      relative_time: 1.3
    }
    trajectory_point {
      path_point {
        x: 586706.6242836254
        y: 4140236.2681820132
        z: 0
        theta: -1.8498532581198004
        lane_id: "743_1_-1"
      }
      v: 8.8576993072278434
      a: -0.40185551789301
      relative_time: 1.4000000000000001
    }
    trajectory_point {
      path_point {
        x: 586706.36816188553
        y: 4140235.4234333746
        z: 0
        theta: -1.8484277944304306
        lane_id: "743_1_-1"
      }
      v: 8.8174288222071038
      a: -0.40343284933401519
      relative_time: 1.5
    }
    trajectory_point {
      path_point {
        x: 586706.1155368943
        y: 4140234.5915539842
        z: 0
        theta: -1.8304806546431314
        lane_id: "743_1_-1"
      }
      v: 8.7770370039985934
      a: -0.40428218164840257
      relative_time: 1.6
    }
    trajectory_point {
      path_point {
        x: 586705.90132570255
        y: 4140233.7530919346
        z: 0
        theta: -1.812414256872291
        lane_id: "743_1_-1"
      }
      v: 8.7365966525149759
      a: -0.40440351483617221
      relative_time: 1.7000000000000002
    }
    trajectory_point {
      path_point {
        x: 586705.68564091309
        y: 4140232.9078665925
        z: 0
        theta: -1.8135757362048486
        lane_id: "743_1_-1"
      }
      v: 8.6961805676689128
      a: -0.40379684889732409
      relative_time: 1.8
    }
    trajectory_point {
      path_point {
        x: 586705.4676651326
        y: 4140232.0680884109
        z: 0
        theta: -1.8134865116541461
        lane_id: "743_1_-1"
      }
      v: 8.655861549373066
      a: -0.40246218383185817
      relative_time: 1.9000000000000001
    }
    trajectory_point {
      path_point {
        x: 586705.24770328344
        y: 4140231.2329413635
        z: 0
        theta: -1.8134044141617676
        lane_id: "743_1_-1"
      }
      v: 8.6157123975400953
      a: -0.40039951963977449
      relative_time: 2
    }
    trajectory_point {
      path_point {
        x: 586705.02696478646
        y: 4140230.4047341389
        z: 0
        theta: -1.8083654482207487
        lane_id: "743_1_-1"
      }
      v: 8.5758059120826644
      a: -0.397608856321073
      relative_time: 2.1
    }
    trajectory_point {
      path_point {
        x: 586704.8047543054
        y: 4140229.5878028134
        z: 0
        theta: -1.7899128827151574
        lane_id: "743_1_-1"
      }
      v: 8.5362148929134349
      a: -0.39409019387575378
      relative_time: 2.2
    }
    trajectory_point {
      path_point {
        x: 586704.58312094223
        y: 4140228.7567436853
        z: 0
        theta: -1.8068428118074018
        lane_id: "743_1_-1"
      }
      v: 8.4970121399450687
      a: -0.38984353230381674
      relative_time: 2.3000000000000003
    }
    trajectory_point {
      path_point {
        x: 586704.36158170481
        y: 4140227.9254434663
        z: 0
        theta: -1.8344890044651212
        lane_id: "743_1_-1"
      }
      v: 8.4582704530902255
      a: -0.38486887160526195
      relative_time: 2.4000000000000004
    }
    trajectory_point {
      path_point {
        x: 586704.14028766728
        y: 4140227.1245857421
        z: 0
        theta: -1.8049093074040512
        lane_id: "743_1_-1"
      }
      v: 8.420062632261569
      a: -0.37916621178008947
      relative_time: 2.5
    }
    trajectory_point {
      path_point {
        x: 586703.90958649968
        y: 4140226.3011103673
        z: 0
        theta: -1.841318004682984
        lane_id: "743_1_-1"
      }
      v: 8.3824614773717609
      a: -0.37273555282829912
      relative_time: 2.6
    }
    trajectory_point {
      path_point {
        x: 586703.659694307
        y: 4140225.5010553119
        z: 0
        theta: -1.8449105672402035
        lane_id: "743_1_-1"
      }
      v: 8.345539788333463
      a: -0.365576894749891
      relative_time: 2.7
    }
    trajectory_point {
      path_point {
        x: 586703.4056789875
        y: 4140224.70383458
        z: 0
        theta: -1.8550011731440494
        lane_id: "743_1_-1"
      }
      v: 8.3093703650593369
      a: -0.35769023754486517
      relative_time: 2.8000000000000003
    }
    trajectory_point {
      path_point {
        x: 586703.25108480279
        y: 4140224.2749852729
        z: 0
        theta: -1.8550011731440494
        lane_id: "743_1_-1"
      }
      v: 8.2740260074620444
      a: -0.34907558121322152
      relative_time: 2.9000000000000004
    }
    trajectory_point {
      path_point {
        x: 586702.83321156993
        y: 4140223.1256778855
        z: 0
        theta: -1.932481918718558
        lane_id: "223a_1_-1"
      }
      v: 8.2395795154542473
      a: -0.33973292575496017
      relative_time: 3
    }
    trajectory_point {
      path_point {
        x: 586702.46917196969
        y: 4140222.3566124146
        z: 0
        theta: -2.0363712415490087
        lane_id: "223a_1_-1"
      }
      v: 8.2061036889486054
      a: -0.32966227117008096
      relative_time: 3.1
    }
    trajectory_point {
      path_point {
        x: 586702.06308170082
        y: 4140221.6291432
        z: 0
        theta: -2.094126326329826
        lane_id: "223a_1_-1"
      }
      v: 8.1736713278577842
      a: -0.318863617458584
      relative_time: 3.2
    }
    trajectory_point {
      path_point {
        x: 586701.61918973515
        y: 4140220.928986358
        z: 0
        theta: -2.1549120044996157
        lane_id: "223a_1_-1"
      }
      v: 8.1423552320944435
      a: -0.30733696462046928
      relative_time: 3.3000000000000003
    }
    trajectory_point {
      path_point {
        x: 586701.1373459344
        y: 4140220.2689451342
        z: 0
        theta: -2.1762049712657578
        lane_id: "223a_1_-1"
      }
      v: 8.112228201571245
      a: -0.29508231265573676
      relative_time: 3.4000000000000004
    }
    trajectory_point {
      path_point {
        x: 586700.6213776489
        y: 4140219.6281322679
        z: 0
        theta: -2.2520620100275894
        lane_id: "223a_1_-1"
      }
      v: 8.08336303620085
      a: -0.28209966156438654
      relative_time: 3.5
    }
    trajectory_point {
      path_point {
        x: 586700.07720537263
        y: 4140219.0235277866
        z: 0
        theta: -2.2953842703024065
        lane_id: "223a_1_-1"
      }
      v: 8.055832535895922
      a: -0.26838901134641852
      relative_time: 3.6
    }
    trajectory_point {
      path_point {
        x: 586699.50810883765
        y: 4140218.4446203471
        z: 0
        theta: -2.357390197821045
        lane_id: "223a_1_-1"
      }
      v: 8.02970950056912
      a: -0.25395036200183269
      relative_time: 3.7
    }
    trajectory_point {
      path_point {
        x: 586698.91628182074
        y: 4140217.8980087177
        z: 0
        theta: -2.3957091641053361
        lane_id: "223a_1_-1"
      }
      v: 8.0050667301331089
      a: -0.23878371353062905
      relative_time: 3.8000000000000003
    }
    trajectory_point {
      path_point {
        x: 586698.30600119964
        y: 4140217.3752167597
        z: 0
        theta: -2.4487839291033477
        lane_id: "223a_1_-1"
      }
      v: 7.9819770245005479
      a: -0.22288906593280766
      relative_time: 3.9000000000000004
    }
    trajectory_point {
      path_point {
        x: 586697.67397907469
        y: 4140216.8870232976
        z: 0
        theta: -2.4705097994837795
        lane_id: "223a_1_-1"
      }
      v: 7.9605131835841014
      a: -0.20626641920836863
      relative_time: 4
    }
    trajectory_point {
      path_point {
        x: 586697.026646863
        y: 4140216.4208703842
        z: 0
        theta: -2.5223087879713466
        lane_id: "223a_1_-1"
      }
      v: 7.9407480072964285
      a: -0.18891577335731169
      relative_time: 4.1000000000000005
    }
    trajectory_point {
      path_point {
        x: 586696.36807901436
        y: 4140215.97549586
        z: 0
        theta: -2.5752725947882178
        lane_id: "223a_1_-1"
      }
      v: 7.9227542955501926
      a: -0.170837128379637
      relative_time: 4.2
    }
    trajectory_point {
      path_point {
        x: 586695.69575683167
        y: 4140215.5570911723
        z: 0
        theta: -2.5982473160127775
        lane_id: "223a_1_-1"
      }
      v: 7.9066048482580555
      a: -0.15203048427534466
      relative_time: 4.3
    }
    trajectory_point {
      path_point {
        x: 586695.01106176921
        y: 4140215.1622912893
        z: 0
        theta: -2.621406761146
        lane_id: "223a_1_-1"
      }
      v: 7.8923724653326772
      a: -0.1324958410444344
      relative_time: 4.4
    }
    trajectory_point {
      path_point {
        x: 586694.31962090009
        y: 4140214.7822173592
        z: 0
        theta: -2.6612397755029424
        lane_id: "223a_1_-1"
      }
      v: 7.8801299466867221
      a: -0.1122331986869064
      relative_time: 4.5
    }
    trajectory_point {
      path_point {
        x: 586693.61770340835
        y: 4140214.4250353584
        z: 0
        theta: -2.683671387065909
        lane_id: "223a_1_-1"
      }
      v: 7.86995009223285
      a: -0.091242557202760588
      relative_time: 4.6000000000000005
    }
    trajectory_point {
      path_point {
        x: 586692.90895182
        y: 4140214.0838619885
        z: 0
        theta: -2.7087543229137503
        lane_id: "223a_1_-1"
      }
      v: 7.8619057018837237
      a: -0.069523916591997192
      relative_time: 4.7
    }
    trajectory_point {
      path_point {
        x: 586692.19236589
        y: 4140213.7611943041
        z: 0
        theta: -2.7294980059039631
        lane_id: "223a_1_-1"
      }
      v: 7.8560695755520049
      a: -0.047077276854615713
      relative_time: 4.8000000000000007
    }
    trajectory_point {
      path_point {
        x: 586691.47050270438
        y: 4140213.4517214014
        z: 0
        theta: -2.7470651625599554
        lane_id: "223a_1_-1"
      }
      v: 7.8525145131503544
      a: -0.02390263799061676
      relative_time: 4.9
    }
  }
}
prediction_obstacle {
  perception_obstacle {
    id: 4059
    position {
      x: 586682.26479980431
      y: 4140206.6375165051
      z: -27.579549090482406
    }
    theta: 0.096193216003833765
    velocity {
      x: 0.69823055281246271
      y: 0.071059024420973435
      z: 0
    }
    length: 4.739046573638916
    width: 1.7296861410140991
    height: 0.92400312423706055
    polygon_point {
      x: 586683.27248972468
      y: 4140207.6004887614
      z: -27.57954900743691
    }
    polygon_point {
      x: 586683.77634105284
      y: 4140207.6572215869
      z: -27.5819519433367
    }
    polygon_point {
      x: 586684.08628737624
      y: 4140207.6260911627
      z: -27.5839542695798
    }
    polygon_point {
      x: 586684.32947756
      y: 4140207.4169103792
      z: -27.58699193566467
    }
    polygon_point {
      x: 586684.39893093775
      y: 4140207.3488893905
      z: -27.587925202205565
    }
    polygon_point {
      x: 586684.60324312432
      y: 4140207.0723070861
      z: -27.591277742237676
    }
    polygon_point {
      x: 586684.62322285341
      y: 4140206.580379786
      z: -27.595295840742317
    }
    polygon_point {
      x: 586684.60239356093
      y: 4140206.3810929083
      z: -27.596759839057778
    }
    polygon_point {
      x: 586683.93373603
      y: 4140205.9308936768
      z: -27.596546978415127
    }
    polygon_point {
      x: 586683.718649535
      y: 4140205.9211537484
      z: -27.595406270484588
    }
    polygon_point {
      x: 586680.83985023072
      y: 4140205.8987373631
      z: -27.579281715311748
    }
    polygon_point {
      x: 586680.72426300531
      y: 4140205.937758245
      z: -27.578317400005758
    }
    polygon_point {
      x: 586680.36188414169
      y: 4140206.1178938574
      z: -27.574835336979287
    }
    polygon_point {
      x: 586679.91024661134
      y: 4140206.3686796008
      z: -27.570286980720908
    }
    polygon_point {
      x: 586680.04460612929
      y: 4140206.6252334947
      z: -27.569011308761223
    }
    polygon_point {
      x: 586680.29321710183
      y: 4140206.8210779894
      z: -27.56886455271631
    }
    polygon_point {
      x: 586680.33548257616
      y: 4140206.8331869063
      z: -27.569007778555406
    }
    tracking_time: 2.768561840057373
    type: VEHICLE
    timestamp: 1516822637.0498815
  }
  timestamp: 1516822637.0498815
  predicted_period: 5
}
prediction_obstacle {
  perception_obstacle {
    id: 4096
    position {
      x: 586711.02139160119
      y: 4140218.3891034191
      z: -27.833225743390731
    }
    theta: -2.8986369415493005
    velocity {
      x: -3.3822878891967294
      y: -0.83827624421320135
      z: 0
    }
    length: 4.7941269874572754
    width: 2.3017940521240234
    height: 1.4730949401855469
    polygon_point {
      x: 586712.32553629
      y: 4140219.8454491044
      z: -27.837534792480685
    }
    polygon_point {
      x: 586712.95411935274
      y: 4140219.7221544036
      z: -27.842073149472824
    }
    polygon_point {
      x: 586713.13427301589
      y: 4140219.64266272
      z: -27.84372436145884
    }
    polygon_point {
      x: 586713.40604192065
      y: 4140218.730839211
      z: -27.852501495915636
    }
    polygon_point {
      x: 586713.37121416011
      y: 4140218.7062802175
      z: -27.852499219088408
    }
    polygon_point {
      x: 586713.33630829258
      y: 4140218.6818324537
      z: -27.852495616993995
    }
    polygon_point {
      x: 586712.493815067
      y: 4140218.1142337518
      z: -27.852230258851968
    }
    polygon_point {
      x: 586712.17066357657
      y: 4140217.9167052903
      z: -27.851968263081261
    }
    polygon_point {
      x: 586710.72853370034
      y: 4140217.141095588
      z: -27.849958398531641
    }
    polygon_point {
      x: 586709.34579284245
      y: 4140217.3522858112
      z: -27.84045156227242
    }
    polygon_point {
      x: 586708.90800747485
      y: 4140217.4766678647
      z: -27.836985051704144
    }
    polygon_point {
      x: 586708.65604652907
      y: 4140217.9670675327
      z: -27.831665381499331
    }
    polygon_point {
      x: 586708.81045848154
      y: 4140218.5513827028
      z: -27.827901472902781
    }
    polygon_point {
      x: 586709.41773719992
      y: 4140219.0831140676
      z: -27.827119540426647
    }
    polygon_point {
      x: 586709.447348739
      y: 4140219.1063940884
      z: -27.827102430629861
    }
    polygon_point {
      x: 586711.27264432015
      y: 4140219.6371556162
      z: -27.833225766031489
    }
    tracking_time: 0.80040884017944336
    type: VEHICLE
    timestamp: 1516822637.0498815
  }
  timestamp: 1516822637.0498815
  predicted_period: 5
}
prediction_obstacle {
  perception_obstacle {
    id: 4105
    position {
      x: 586704.41067382775
      y: 4140253.1143231457
      z: -27.519766347028426
    }
    theta: -1.8420534626284106
    velocity {
      x: 0
      y: 0
      z: 0
    }
    length: 0.26535049080848694
    width: 0.31970399618148804
    height: 0.80374789237976074
    polygon_point {
      x: 586704.58046759223
      y: 4140253.2090914566
      z: -27.520811553607427
    }
    polygon_point {
      x: 586704.58027724677
      y: 4140253.1651460859
      z: -27.521159317203825
    }
    polygon_point {
      x: 586704.56716033933
      y: 4140253.087768523
      z: -27.521699265464505
    }
    polygon_point {
      x: 586704.4968123344
      y: 4140253.0270963875
      z: -27.521782507968169
    }
    polygon_point {
      x: 586704.3895067441
      y: 4140252.9842695994
      z: -27.521514803842056
    }
    polygon_point {
      x: 586704.245940541
      y: 4140253.0382892136
      z: -27.52027298395377
    }
    polygon_point {
      x: 586704.24019705725
      y: 4140253.0461411527
      z: -27.520178129632662
    }
    polygon_point {
      x: 586704.25252763
      y: 4140253.1611204688
      z: -27.519335242976585
    }
    tracking_time: 0.40020394325256348
    type: PEDESTRIAN
    timestamp: 1516822637.0498815
  }
  timestamp: 1516822637.0498815
  predicted_period: 5
}
prediction_obstacle {
  perception_obstacle {
    id: 4108
    position {
      x: 586709.66262695275
      y: 4140270.0038495129
      z: -26.550969378568343
    }
    theta: -1.8424365281046104
    velocity {
      x: 0
      y: 0
      z: 0
    }
    length: 0.28785091638565063
    width: 0.13046689331531525
    height: 0.71980118751525879
    polygon_point {
      x: 586709.76278290641
      y: 4140270.1267245291
      z: -26.549324267625494
    }
    polygon_point {
      x: 586709.66904552747
      y: 4140269.8526224084
      z: -26.550969279834476
    }
    polygon_point {
      x: 586709.61890545045
      y: 4140269.9672275414
      z: -26.549775595270127
    }
    polygon_point {
      x: 586709.628132858
      y: 4140270.1433826918
      z: -26.548429517368092
    }
    tracking_time: 0.20010185241699219
    type: UNKNOWN
    timestamp: 1516822637.0498815
  }
  timestamp: 1516822637.0498815
  predicted_period: 5
}
prediction_obstacle {
  perception_obstacle {
    id: 4109
    position {
      x: 586663.20925781212
      y: 4140200.4730877941
      z: -27.532389895536117
    }
    theta: 0.32497734398080125
    velocity {
      x: 0
      y: 0
      z: 0
    }
    length: 2.0322575569152832
    width: 1.6649537086486816
    height: 1.2670464515686035
    polygon_point {
      x: 586663.79888285568
      y: 4140201.2770834393
      z: -27.528835207868184
    }
    polygon_point {
      x: 586664.06755861267
      y: 4140200.979617734
      z: -27.532718009553065
    }
    polygon_point {
      x: 586664.15205382428
      y: 4140200.8448250848
      z: -27.534266495501321
    }
    polygon_point {
      x: 586664.233940925
      y: 4140200.610739565
      z: -27.536588405792028
    }
    polygon_point {
      x: 586664.08911017061
      y: 4140200.11532544
      z: -27.539700869347776
    }
    polygon_point {
      x: 586663.82656788593
      y: 4140199.8413354703
      z: -27.540389057465109
    }
    polygon_point {
      x: 586663.46655609016
      y: 4140199.6815942214
      z: -27.539618365997818
    }
    polygon_point {
      x: 586662.94215606316
      y: 4140199.5157805439
      z: -27.537964955481218
    }
    polygon_point {
      x: 586662.71554635232
      y: 4140199.5482064169
      z: -27.536424276985688
    }
    polygon_point {
      x: 586662.362261803
      y: 4140199.8044053912
      z: -27.532389918174985
    }
    polygon_point {
      x: 586663.18019042234
      y: 4140201.2554449113
      z: -27.525503351415193
    }
    polygon_point {
      x: 586663.48245594243
      y: 4140201.4472490042
      z: -27.52569251142161
    }
    polygon_point {
      x: 586663.68109814788
      y: 4140201.3893233822
      z: -27.527277230157203
    }
    tracking_time: 0.20010185241699219
    type: VEHICLE
    timestamp: 1516822637.0498815
  }
  timestamp: 1516822637.0498815
  predicted_period: 5
}
perception_error_code: OK
start_timestamp: 1516822637.116075
end_timestamp: 1516822637.1201632