traffic_light_detection.proto

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syntax = "proto2";
 
package apollo.perception;
 
import "modules/common_msgs/basic_msgs/header.proto";
 
message TrafficLightBox {
  optional int32 x = 1;
  optional int32 y = 2;
  optional int32 width = 3;
  optional int32 height = 4;
  optional TrafficLight.Color color = 5;
  optional bool selected = 6;
  optional string camera_name = 7;
}
 
message TrafficLightDebug {
  optional TrafficLightBox cropbox = 1;
  repeated TrafficLightBox box = 2;
  optional int32 signal_num = 3;
  optional int32 valid_pos = 4;
  optional double ts_diff_pos = 5;
  optional double ts_diff_sys = 6;
  optional int32 project_error = 7;
  optional double distance_to_stop_line = 8;
  optional int32 camera_id = 9 [deprecated = true];
  repeated TrafficLightBox crop_roi = 10;
  repeated TrafficLightBox projected_roi = 11;
  repeated TrafficLightBox rectified_roi = 12;
  repeated TrafficLightBox debug_roi = 13;
}
 
message TrafficLight {
  enum Color {
    UNKNOWN = 0;
    RED = 1;
    YELLOW = 2;
    GREEN = 3;
    BLACK = 4;
  };
  optional Color color = 1;
 
  // Traffic light string-ID in the map data.
  optional string id = 2;
 
  // How confidence about the detected results, between 0 and 1.
  optional double confidence = 3 [default = 1.0];
 
  // Duration of the traffic light since detected.
  optional double tracking_time = 4;
 
  // Is traffic blinking
  optional bool blink = 5;
 
  // v2x traffic light remaining time.
  optional double remaining_time = 6;
}
 
message TrafficLightDetection {
  optional apollo.common.Header header = 2;
  repeated TrafficLight traffic_light = 1;
  optional TrafficLightDebug traffic_light_debug = 3;
  optional bool contain_lights = 4;
  enum CameraID {
    CAMERA_FRONT_LONG = 0;
    CAMERA_FRONT_NARROW = 1;
    CAMERA_FRONT_SHORT = 2;
    CAMERA_FRONT_WIDE = 3;
  };
  optional CameraID camera_id = 5;
  optional string camera_name = 6;
}