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体验新版 GitCode,发现更多精彩内容 >>
提交
3a4512fd
编写于
9月 15, 2018
作者:
L
Liangliang Zhang
提交者:
Jiangtao Hu
9月 15, 2018
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
All: fixed proto format.
上级
c5f4c4e2
变更
128
展开全部
隐藏空白更改
内联
并排
Showing
128 changed file
with
10215 addition
and
12410 deletion
+10215
-12410
modules/canbus/proto/chassis.proto
modules/canbus/proto/chassis.proto
+8
-8
modules/canbus/proto/chassis_detail.proto
modules/canbus/proto/chassis_detail.proto
+69
-63
modules/common/adapters/proto/adapter_config.proto
modules/common/adapters/proto/adapter_config.proto
+1
-1
modules/common/configs/proto/vehicle_config.proto
modules/common/configs/proto/vehicle_config.proto
+6
-5
modules/common/monitor_log/proto/monitor_log.proto
modules/common/monitor_log/proto/monitor_log.proto
+7
-7
modules/common/proto/drive_state.proto
modules/common/proto/drive_state.proto
+9
-10
modules/common/proto/error_code.proto
modules/common/proto/error_code.proto
+4
-4
modules/common/proto/pnc_point.proto
modules/common/proto/pnc_point.proto
+8
-7
modules/common/util/testdata/simple.proto
modules/common/util/testdata/simple.proto
+1
-1
modules/common/vehicle_state/proto/vehicle_state.proto
modules/common/vehicle_state/proto/vehicle_state.proto
+12
-12
modules/control/proto/control_cmd.proto
modules/control/proto/control_cmd.proto
+7
-5
modules/control/proto/control_conf.proto
modules/control/proto/control_conf.proto
+0
-1
modules/control/proto/gain_scheduler_conf.proto
modules/control/proto/gain_scheduler_conf.proto
+1
-1
modules/control/proto/lat_controller_conf.proto
modules/control/proto/lat_controller_conf.proto
+4
-4
modules/control/proto/lon_controller_conf.proto
modules/control/proto/lon_controller_conf.proto
+2
-2
modules/control/proto/mpc_controller_conf.proto
modules/control/proto/mpc_controller_conf.proto
+6
-6
modules/data/proto/static_info.proto
modules/data/proto/static_info.proto
+1
-3
modules/data/proto/task.proto
modules/data/proto/task.proto
+0
-1
modules/data/proto/warehouse_query.proto
modules/data/proto/warehouse_query.proto
+0
-1
modules/dreamview/proto/simulation_world.proto
modules/dreamview/proto/simulation_world.proto
+17
-16
modules/drivers/camera/proto/camera_conf.proto
modules/drivers/camera/proto/camera_conf.proto
+26
-27
modules/drivers/gnss/proto/config.proto
modules/drivers/gnss/proto/config.proto
+10
-12
modules/drivers/gnss/proto/gnss.proto
modules/drivers/gnss/proto/gnss.proto
+11
-10
modules/drivers/gnss/proto/gnss_best_pose.proto
modules/drivers/gnss/proto/gnss_best_pose.proto
+35
-28
modules/drivers/gnss/proto/gnss_raw_observation.proto
modules/drivers/gnss/proto/gnss_raw_observation.proto
+165
-173
modules/drivers/gnss/proto/heading.proto
modules/drivers/gnss/proto/heading.proto
+21
-19
modules/drivers/lidar_velodyne/proto/cloud_node_conf.proto
modules/drivers/lidar_velodyne/proto/cloud_node_conf.proto
+5
-4
modules/drivers/lidar_velodyne/proto/transform_node_conf.proto
...es/drivers/lidar_velodyne/proto/transform_node_conf.proto
+5
-4
modules/drivers/proto/conti_radar.proto
modules/drivers/proto/conti_radar.proto
+28
-22
modules/drivers/proto/delphi_esr.proto
modules/drivers/proto/delphi_esr.proto
+53
-48
modules/drivers/proto/mobileye.proto
modules/drivers/proto/mobileye.proto
+96
-96
modules/drivers/proto/racobit_radar.proto
modules/drivers/proto/racobit_radar.proto
+28
-22
modules/drivers/proto/radar.proto
modules/drivers/proto/radar.proto
+27
-23
modules/drivers/proto/sensor_image.proto
modules/drivers/proto/sensor_image.proto
+51
-51
modules/drivers/proto/ultrasonic_radar.proto
modules/drivers/proto/ultrasonic_radar.proto
+18
-19
modules/drivers/usb_cam/proto/config.proto
modules/drivers/usb_cam/proto/config.proto
+26
-27
modules/drivers/velodyne/proto/velodyne.proto
modules/drivers/velodyne/proto/velodyne.proto
+15
-15
modules/example/component_driver/proto/driver_conf.proto
modules/example/component_driver/proto/driver_conf.proto
+2
-2
modules/guardian/proto/guardian_conf.proto
modules/guardian/proto/guardian_conf.proto
+7
-7
modules/localization/proto/gnss_pnt_result.proto
modules/localization/proto/gnss_pnt_result.proto
+16
-13
modules/localization/proto/measure.proto
modules/localization/proto/measure.proto
+10
-10
modules/localization/proto/pose.proto
modules/localization/proto/pose.proto
+2
-1
modules/map/proto/map.proto
modules/map/proto/map.proto
+2
-1
modules/map/proto/map_geometry.proto
modules/map/proto/map_geometry.proto
+1
-1
modules/map/proto/map_lane.proto
modules/map/proto/map_lane.proto
+4
-3
modules/map/proto/map_overlap.proto
modules/map/proto/map_overlap.proto
+2
-2
modules/map/proto/map_road.proto
modules/map/proto/map_road.proto
+6
-3
modules/map/proto/map_speed_bump.proto
modules/map/proto/map_speed_bump.proto
+3
-3
modules/map/proto/map_speed_control.proto
modules/map/proto/map_speed_control.proto
+1
-1
modules/map/proto/map_stop_sign.proto
modules/map/proto/map_stop_sign.proto
+2
-2
modules/map/proto/map_yield_sign.proto
modules/map/proto/map_yield_sign.proto
+4
-2
modules/map/relative_map/proto/navigation.proto
modules/map/relative_map/proto/navigation.proto
+1
-1
modules/map/relative_map/proto/relative_map_config.proto
modules/map/relative_map/proto/relative_map_config.proto
+12
-11
modules/perception/model/cnn_segmentation/deploy.prototxt
modules/perception/model/cnn_segmentation/deploy.prototxt
+325
-523
modules/perception/model/traffic_light/det_all/2017-10-24/deploy.prototxt
...on/model/traffic_light/det_all/2017-10-24/deploy.prototxt
+3543
-4328
modules/perception/model/traffic_light/det_all/2017-11-17/deploy.prototxt
...on/model/traffic_light/det_all/2017-11-17/deploy.prototxt
+3543
-4328
modules/perception/model/traffic_light/rcg_all/2017-09-15/horizontal/deploy.prototxt
...affic_light/rcg_all/2017-09-15/horizontal/deploy.prototxt
+269
-388
modules/perception/model/traffic_light/rcg_all/2017-09-15/quadrate/deploy.prototxt
...traffic_light/rcg_all/2017-09-15/quadrate/deploy.prototxt
+269
-388
modules/perception/model/traffic_light/rcg_all/2017-09-15/vertical/deploy.prototxt
...traffic_light/rcg_all/2017-09-15/vertical/deploy.prototxt
+269
-388
modules/perception/model/traffic_light/rcg_all/2017-11-17/vertical/deploy.prototxt
...traffic_light/rcg_all/2017-11-17/vertical/deploy.prototxt
+269
-388
modules/perception/obstacle/camera/detector/common/proto/tracking_feature.proto
...tacle/camera/detector/common/proto/tracking_feature.proto
+16
-16
modules/perception/obstacle/camera/detector/yolo_camera_detector/proto/yolo.proto
...cle/camera/detector/yolo_camera_detector/proto/yolo.proto
+34
-37
modules/perception/obstacle/lidar/segmentation/cnnseg/proto/cnnseg.proto
...ion/obstacle/lidar/segmentation/cnnseg/proto/cnnseg.proto
+22
-22
modules/perception/onboard/proto/dag_config.proto
modules/perception/onboard/proto/dag_config.proto
+47
-47
modules/perception/proto/async_fusion_config.proto
modules/perception/proto/async_fusion_config.proto
+13
-13
modules/perception/proto/cnn_segmentation_config.proto
modules/perception/proto/cnn_segmentation_config.proto
+8
-5
modules/perception/proto/geometry_camera_converter_config.proto
...s/perception/proto/geometry_camera_converter_config.proto
+4
-3
modules/perception/proto/hdmap_roi_filter_config.proto
modules/perception/proto/hdmap_roi_filter_config.proto
+7
-6
modules/perception/proto/lane_post_process_config.proto
modules/perception/proto/lane_post_process_config.proto
+42
-41
modules/perception/proto/low_object_filter_config.proto
modules/perception/proto/low_object_filter_config.proto
+4
-4
modules/perception/proto/modest_radar_detector_config.proto
modules/perception/proto/modest_radar_detector_config.proto
+26
-26
modules/perception/proto/perception_map_roi.proto
modules/perception/proto/perception_map_roi.proto
+3
-3
modules/perception/proto/perception_obstacle.proto
modules/perception/proto/perception_obstacle.proto
+12
-12
modules/perception/proto/perception_ultrasonic.proto
modules/perception/proto/perception_ultrasonic.proto
+6
-6
modules/perception/proto/probabilistic_fusion_config.proto
modules/perception/proto/probabilistic_fusion_config.proto
+14
-14
modules/perception/proto/sequence_type_fuser_config.proto
modules/perception/proto/sequence_type_fuser_config.proto
+9
-5
modules/perception/proto/tracker_config.proto
modules/perception/proto/tracker_config.proto
+26
-30
modules/perception/proto/traffic_light/multi_camera_projection_config.proto
.../proto/traffic_light/multi_camera_projection_config.proto
+3
-3
modules/perception/proto/traffic_light/preprocessor_config.proto
.../perception/proto/traffic_light/preprocessor_config.proto
+7
-7
modules/perception/proto/traffic_light/recognizer_config.proto
...es/perception/proto/traffic_light/recognizer_config.proto
+0
-2
modules/perception/proto/traffic_light/subnode_config.proto
modules/perception/proto/traffic_light/subnode_config.proto
+9
-9
modules/perception/proto/traffic_light_detection.proto
modules/perception/proto/traffic_light_detection.proto
+33
-33
modules/perception/proto/yolo_camera_detector_config.proto
modules/perception/proto/yolo_camera_detector_config.proto
+4
-3
modules/perception/tool/data_generator/proto/config.proto
modules/perception/tool/data_generator/proto/config.proto
+6
-6
modules/planning/proto/auto_tuning_model_input.proto
modules/planning/proto/auto_tuning_model_input.proto
+45
-46
modules/planning/proto/auto_tuning_raw_feature.proto
modules/planning/proto/auto_tuning_raw_feature.proto
+49
-49
modules/planning/proto/decision.proto
modules/planning/proto/decision.proto
+15
-15
modules/planning/proto/dp_st_speed_config.proto
modules/planning/proto/dp_st_speed_config.proto
+23
-23
modules/planning/proto/lattice_structure.proto
modules/planning/proto/lattice_structure.proto
+1
-1
modules/planning/proto/navi_obstacle_decider_config.proto
modules/planning/proto/navi_obstacle_decider_config.proto
+0
-1
modules/planning/proto/planning.proto
modules/planning/proto/planning.proto
+5
-4
modules/planning/proto/planning_config.proto
modules/planning/proto/planning_config.proto
+8
-8
modules/planning/proto/planning_internal.proto
modules/planning/proto/planning_internal.proto
+0
-2
modules/planning/proto/planning_stats.proto
modules/planning/proto/planning_stats.proto
+13
-13
modules/planning/proto/planning_status.proto
modules/planning/proto/planning_status.proto
+10
-10
modules/planning/proto/qp_st_speed_config.proto
modules/planning/proto/qp_st_speed_config.proto
+8
-8
modules/planning/proto/reference_line_smoother_config.proto
modules/planning/proto/reference_line_smoother_config.proto
+2
-2
modules/planning/proto/spiral_curve_config.proto
modules/planning/proto/spiral_curve_config.proto
+1
-1
modules/planning/proto/st_boundary_config.proto
modules/planning/proto/st_boundary_config.proto
+9
-9
modules/planning/proto/traffic_rule_config.proto
modules/planning/proto/traffic_rule_config.proto
+71
-65
modules/prediction/proto/feature.proto
modules/prediction/proto/feature.proto
+45
-45
modules/prediction/proto/fnn_model_base.proto
modules/prediction/proto/fnn_model_base.proto
+3
-2
modules/prediction/proto/fnn_vehicle_model.proto
modules/prediction/proto/fnn_vehicle_model.proto
+4
-2
modules/prediction/proto/lane_graph.proto
modules/prediction/proto/lane_graph.proto
+61
-61
modules/prediction/proto/network_layers.proto
modules/prediction/proto/network_layers.proto
+1
-1
modules/prediction/proto/network_model.proto
modules/prediction/proto/network_model.proto
+7
-6
modules/prediction/proto/offline_features.proto
modules/prediction/proto/offline_features.proto
+1
-1
modules/prediction/proto/prediction_conf.proto
modules/prediction/proto/prediction_conf.proto
+2
-2
modules/prediction/proto/prediction_obstacle.proto
modules/prediction/proto/prediction_obstacle.proto
+2
-2
modules/prediction/proto/scenario_feature.proto
modules/prediction/proto/scenario_feature.proto
+12
-12
modules/routing/proto/routing.proto
modules/routing/proto/routing.proto
+10
-11
modules/routing/proto/routing_config.proto
modules/routing/proto/routing_config.proto
+9
-6
modules/routing/proto/topo_graph.proto
modules/routing/proto/topo_graph.proto
+25
-26
modules/third_party_perception/proto/radar_obstacle.proto
modules/third_party_perception/proto/radar_obstacle.proto
+6
-4
modules/tools/fuzz/calibration/proto/lidar_ex_checker_fuzz.proto
.../tools/fuzz/calibration/proto/lidar_ex_checker_fuzz.proto
+2
-2
modules/tools/fuzz/calibration/proto/republish_msg_fuzz.proto
...les/tools/fuzz/calibration/proto/republish_msg_fuzz.proto
+2
-2
modules/tools/fuzz/control/proto/control_fuzz.proto
modules/tools/fuzz/control/proto/control_fuzz.proto
+8
-8
modules/tools/fuzz/control/proto/control_message.proto
modules/tools/fuzz/control/proto/control_message.proto
+5
-6
modules/tools/fuzz/guardian/proto/guardian_fuzz.proto
modules/tools/fuzz/guardian/proto/guardian_fuzz.proto
+4
-4
modules/tools/fuzz/localization/proto/msf_localization_fuzz.proto
...tools/fuzz/localization/proto/msf_localization_fuzz.proto
+4
-4
modules/tools/fuzz/localization/proto/rtk_localization_fuzz.proto
...tools/fuzz/localization/proto/rtk_localization_fuzz.proto
+2
-2
modules/tools/fuzz/map/proto/hdmap_fuzz.proto
modules/tools/fuzz/map/proto/hdmap_fuzz.proto
+1
-1
modules/tools/fuzz/planning/proto/navi_planning_fuzz.proto
modules/tools/fuzz/planning/proto/navi_planning_fuzz.proto
+4
-4
modules/tools/fuzz/planning/proto/std_planning_fuzz.proto
modules/tools/fuzz/planning/proto/std_planning_fuzz.proto
+4
-4
modules/tools/fuzz/prediction/proto/prediction_fuzz.proto
modules/tools/fuzz/prediction/proto/prediction_fuzz.proto
+3
-3
modules/tools/fuzz/routing/proto/routing_fuzz.proto
modules/tools/fuzz/routing/proto/routing_fuzz.proto
+1
-1
modules/tools/fuzz/third_party_perception/proto/third_party_perception_fuzz.proto
..._party_perception/proto/third_party_perception_fuzz.proto
+5
-7
modules/tools/prediction/mlp_train/proto/fnn_model.proto
modules/tools/prediction/mlp_train/proto/fnn_model.proto
+22
-19
未找到文件。
modules/canbus/proto/chassis.proto
浏览文件 @
3a4512fd
...
...
@@ -101,7 +101,7 @@ message Chassis {
optional
Surround
surround
=
31
;
// Vehicle registration information
optional
License
license
=
32
;
optional
License
license
=
32
;
}
message
ChassisGPS
{
...
...
@@ -137,12 +137,12 @@ enum GpsQuality {
}
message
WheelSpeed
{
enum
WheelSpeedType
{
FORWARD
=
0
;
BACKWARD
=
1
;
STANDSTILL
=
2
;
INVALID
=
3
;
}
enum
WheelSpeedType
{
FORWARD
=
0
;
BACKWARD
=
1
;
STANDSTILL
=
2
;
INVALID
=
3
;
}
optional
bool
is_wheel_spd_rr_valid
=
1
[
default
=
false
];
optional
WheelSpeedType
wheel_direction_rr
=
2
[
default
=
INVALID
];
optional
double
wheel_spd_rr
=
3
[
default
=
0.0
];
...
...
@@ -158,7 +158,7 @@ enum WheelSpeedType {
}
message
Sonar
{
optional
double
range
=
1
;
// Meter
optional
double
range
=
1
;
// Meter
optional
apollo.common.Point3D
translation
=
2
;
// Meter
optional
apollo.common.Quaternion
rotation
=
3
;
}
...
...
modules/canbus/proto/chassis_detail.proto
浏览文件 @
3a4512fd
...
...
@@ -24,8 +24,8 @@ message ChassisDetail {
optional
Light
light
=
13
;
// Light
optional
Battery
battery
=
14
;
// Battery info
optional
CheckResponseSignal
check_response
=
15
;
optional
License
license
=
16
;
// License info
optional
Surround
surround
=
17
;
// Surround information
optional
License
license
=
16
;
// License info
optional
Surround
surround
=
17
;
// Surround information
optional
Gem
gem
=
18
;
}
...
...
@@ -498,7 +498,7 @@ message BasicInfo {
// TODO(QiL) : Re-factor needed here
message
Global_rpt_6a
{
// Report Message
// Report Message
enum
Pacmod_statusType
{
PACMOD_STATUS_CONTROL_DISABLED
=
0
;
PACMOD_STATUS_CONTROL_ENABLED
=
1
;
...
...
@@ -528,13 +528,13 @@ message Global_rpt_6a {
}
message
Brake_cmd_6b
{
// Report Message
// Report Message
// [%] [0|1]
optional
double
brake_cmd
=
1
;
}
message
Brake_rpt_6c
{
// Report Message
// Report Message
enum
Brake_on_offType
{
BRAKE_ON_OFF_OFF
=
0
;
BRAKE_ON_OFF_ON
=
1
;
...
...
@@ -550,7 +550,7 @@ message Brake_rpt_6c {
}
message
Steering_cmd_6d
{
// Report Message
// Report Message
// [radians] [-2147483.648|2147483.647]
optional
double
position_value
=
1
;
// [rad/s] [0|65.535]
...
...
@@ -558,7 +558,7 @@ message Steering_cmd_6d {
}
message
Steering_rpt_1_6e
{
// Report Message
// Report Message
// [rad/s] [-32.768|32.767]
optional
double
manual_input
=
1
;
// [rad/s] [-32.768|32.767]
...
...
@@ -568,7 +568,7 @@ message Steering_rpt_1_6e {
}
message
Wheel_speed_rpt_7a
{
// Report Message
// Report Message
// [rad/s] [-32768|32767]
optional
int32
wheel_spd_rear_right
=
1
;
// [rad/s] [-32768|32767]
...
...
@@ -580,7 +580,7 @@ message Wheel_speed_rpt_7a {
}
message
Date_time_rpt_83
{
// Report Message
// Report Message
// [sec] [0|60]
optional
int32
time_second
=
1
;
// [min] [0|60]
...
...
@@ -596,7 +596,7 @@ message Date_time_rpt_83 {
}
message
Brake_motor_rpt_1_70
{
// Report Message
// Report Message
// [amps] [0|4294967.295]
optional
double
motor_current
=
1
;
// [radians] [-2147483.648|2147483.647]
...
...
@@ -604,7 +604,7 @@ message Brake_motor_rpt_1_70 {
}
message
Headlight_rpt_77
{
// Report Message
// Report Message
enum
Output_valueType
{
OUTPUT_VALUE_HEADLIGHTS_OFF
=
0
;
OUTPUT_VALUE_LOW_BEAMS
=
1
;
...
...
@@ -629,7 +629,7 @@ message Headlight_rpt_77 {
}
message
Accel_rpt_68
{
// Report Message
// Report Message
// [%] [0|1]
optional
double
manual_input
=
1
;
// [%] [0|1]
...
...
@@ -639,7 +639,7 @@ message Accel_rpt_68 {
}
message
Steering_motor_rpt_3_75
{
// Report Message
// Report Message
// [N-m] [-2147483.648|2147483.647]
optional
double
torque_output
=
1
;
// [N-m] [-2147483.648|2147483.647]
...
...
@@ -647,7 +647,7 @@ message Steering_motor_rpt_3_75 {
}
message
Turn_cmd_63
{
// Report Message
// Report Message
enum
Turn_signal_cmdType
{
TURN_SIGNAL_CMD_RIGHT
=
0
;
TURN_SIGNAL_CMD_NONE
=
1
;
...
...
@@ -659,7 +659,7 @@ message Turn_cmd_63 {
}
message
Turn_rpt_64
{
// Report Message
// Report Message
enum
Manual_inputType
{
MANUAL_INPUT_RIGHT
=
0
;
MANUAL_INPUT_NONE
=
1
;
...
...
@@ -687,7 +687,7 @@ message Turn_rpt_64 {
}
message
Shift_cmd_65
{
// Report Message
// Report Message
enum
Shift_cmdType
{
SHIFT_CMD_PARK
=
0
;
SHIFT_CMD_REVERSE
=
1
;
...
...
@@ -695,12 +695,13 @@ message Shift_cmd_65 {
SHIFT_CMD_FORWARD
=
3
;
SHIFT_CMD_LOW
=
4
;
}
// FORWARD_is_also_LOW_on_vehicles_with_LOW/HIGH,_PARK_and_HIGH_only_available_on_certain_Vehicles [] [0|4]
// FORWARD_is_also_LOW_on_vehicles_with_LOW/HIGH,_PARK_and_HIGH_only_available_on_certain_Vehicles
// [] [0|4]
optional
Shift_cmdType
shift_cmd
=
1
;
}
message
Shift_rpt_66
{
// Report Message
// Report Message
enum
Manual_inputType
{
MANUAL_INPUT_PARK
=
0
;
MANUAL_INPUT_REVERSE
=
1
;
...
...
@@ -731,13 +732,13 @@ message Shift_rpt_66 {
}
message
Accel_cmd_67
{
// Report Message
// Report Message
// [%] [0|1]
optional
double
accel_cmd
=
1
;
}
message
Lat_lon_heading_rpt_82
{
// Report Message
// Report Message
// [deg] [-327.68|327.67]
optional
double
heading
=
1
;
// [sec] [-128|127]
...
...
@@ -755,7 +756,7 @@ message Lat_lon_heading_rpt_82 {
}
message
Global_cmd_69
{
// Report Message
// Report Message
enum
Pacmod_enableType
{
PACMOD_ENABLE_CONTROL_DISABLED
=
0
;
PACMOD_ENABLE_CONTROL_ENABLED
=
1
;
...
...
@@ -777,7 +778,7 @@ message Global_cmd_69 {
}
message
Parking_brake_status_rpt_80
{
// Report Message
// Report Message
enum
Parking_brake_enabledType
{
PARKING_BRAKE_ENABLED_OFF
=
0
;
PARKING_BRAKE_ENABLED_ON
=
1
;
...
...
@@ -787,13 +788,13 @@ message Parking_brake_status_rpt_80 {
}
message
Yaw_rate_rpt_81
{
// Report Message
// Report Message
// [rad/s] [-327.68|327.67]
optional
double
yaw_rate
=
1
;
}
message
Horn_rpt_79
{
// Report Message
// Report Message
enum
Output_valueType
{
OUTPUT_VALUE_OFF
=
0
;
OUTPUT_VALUE_ON
=
1
;
...
...
@@ -815,7 +816,7 @@ message Horn_rpt_79 {
}
message
Horn_cmd_78
{
// Report Message
// Report Message
enum
Horn_cmdType
{
HORN_CMD_OFF
=
0
;
HORN_CMD_ON
=
1
;
...
...
@@ -825,7 +826,7 @@ message Horn_cmd_78 {
}
message
Wiper_rpt_91
{
// Report Message
// Report Message
enum
Output_valueType
{
OUTPUT_VALUE_WIPERS_OFF
=
0
;
OUTPUT_VALUE_INTERMITTENT_1
=
1
;
...
...
@@ -865,7 +866,7 @@ message Wiper_rpt_91 {
}
message
Vehicle_speed_rpt_6f
{
// Report Message
// Report Message
enum
Vehicle_speed_validType
{
VEHICLE_SPEED_VALID_INVALID
=
0
;
VEHICLE_SPEED_VALID_VALID
=
1
;
...
...
@@ -877,7 +878,7 @@ message Vehicle_speed_rpt_6f {
}
message
Headlight_cmd_76
{
// Report Message
// Report Message
enum
Headlight_cmdType
{
HEADLIGHT_CMD_HEADLIGHTS_OFF
=
0
;
HEADLIGHT_CMD_LOW_BEAMS
=
1
;
...
...
@@ -888,7 +889,7 @@ message Headlight_cmd_76 {
}
message
Steering_motor_rpt_2_74
{
// Report Message
// Report Message
// [deg C] [-32808|32727]
optional
int32
encoder_temperature
=
1
;
// [deg C] [-32808|32727]
...
...
@@ -898,7 +899,7 @@ message Steering_motor_rpt_2_74 {
}
message
Brake_motor_rpt_2_71
{
// Report Message
// Report Message
// [deg C] [-32808|32727]
optional
int32
encoder_temperature
=
1
;
// [deg C] [-32808|32727]
...
...
@@ -908,7 +909,7 @@ message Brake_motor_rpt_2_71 {
}
message
Steering_motor_rpt_1_73
{
// Report Message
// Report Message
// [amps] [0|4294967.295]
optional
double
motor_current
=
1
;
// [amps] [-2147483.648|2147483.647]
...
...
@@ -916,7 +917,7 @@ message Steering_motor_rpt_1_73 {
}
message
Wiper_cmd_90
{
// Report Message
// Report Message
enum
Wiper_cmdType
{
WIPER_CMD_WIPERS_OFF
=
0
;
WIPER_CMD_INTERMITTENT_1
=
1
;
...
...
@@ -932,7 +933,7 @@ message Wiper_cmd_90 {
}
message
Brake_motor_rpt_3_72
{
// Report Message
// Report Message
// [N-m] [-2147483.648|2147483.647]
optional
double
torque_output
=
1
;
// [N-m] [-2147483.648|2147483.647]
...
...
@@ -940,34 +941,39 @@ message Brake_motor_rpt_3_72 {
}
message
Gem
{
optional
Global_rpt_6a
global_rpt_6a
=
1
;
// report message
optional
Brake_cmd_6b
brake_cmd_6b
=
2
;
// report message
optional
Brake_rpt_6c
brake_rpt_6c
=
3
;
// report message
optional
Steering_cmd_6d
steering_cmd_6d
=
4
;
// report message
optional
Steering_rpt_1_6e
steering_rpt_1_6e
=
5
;
// report message
optional
Wheel_speed_rpt_7a
wheel_speed_rpt_7a
=
6
;
// report message
optional
Date_time_rpt_83
date_time_rpt_83
=
7
;
// report message
optional
Brake_motor_rpt_1_70
brake_motor_rpt_1_70
=
8
;
// report message
optional
Headlight_rpt_77
headlight_rpt_77
=
9
;
// report message
optional
Accel_rpt_68
accel_rpt_68
=
10
;
// report message
optional
Steering_motor_rpt_3_75
steering_motor_rpt_3_75
=
11
;
// report message
optional
Turn_cmd_63
turn_cmd_63
=
12
;
// report message
optional
Turn_rpt_64
turn_rpt_64
=
13
;
// report message
optional
Shift_cmd_65
shift_cmd_65
=
14
;
// report message
optional
Shift_rpt_66
shift_rpt_66
=
15
;
// report message
optional
Accel_cmd_67
accel_cmd_67
=
16
;
// report message
optional
Lat_lon_heading_rpt_82
lat_lon_heading_rpt_82
=
17
;
// report message
optional
Global_cmd_69
global_cmd_69
=
18
;
// report message
optional
Parking_brake_status_rpt_80
parking_brake_status_rpt_80
=
19
;
// report message
optional
Yaw_rate_rpt_81
yaw_rate_rpt_81
=
20
;
// report message
optional
Horn_rpt_79
horn_rpt_79
=
21
;
// report message
optional
Horn_cmd_78
horn_cmd_78
=
22
;
// report message
optional
Wiper_rpt_91
wiper_rpt_91
=
23
;
// report message
optional
Vehicle_speed_rpt_6f
vehicle_speed_rpt_6f
=
24
;
// report message
optional
Headlight_cmd_76
headlight_cmd_76
=
25
;
// report message
optional
Steering_motor_rpt_2_74
steering_motor_rpt_2_74
=
26
;
// report message
optional
Brake_motor_rpt_2_71
brake_motor_rpt_2_71
=
27
;
// report message
optional
Steering_motor_rpt_1_73
steering_motor_rpt_1_73
=
28
;
// report message
optional
Wiper_cmd_90
wiper_cmd_90
=
29
;
// report message
optional
Brake_motor_rpt_3_72
brake_motor_rpt_3_72
=
30
;
// report message
optional
Global_rpt_6a
global_rpt_6a
=
1
;
// report message
optional
Brake_cmd_6b
brake_cmd_6b
=
2
;
// report message
optional
Brake_rpt_6c
brake_rpt_6c
=
3
;
// report message
optional
Steering_cmd_6d
steering_cmd_6d
=
4
;
// report message
optional
Steering_rpt_1_6e
steering_rpt_1_6e
=
5
;
// report message
optional
Wheel_speed_rpt_7a
wheel_speed_rpt_7a
=
6
;
// report message
optional
Date_time_rpt_83
date_time_rpt_83
=
7
;
// report message
optional
Brake_motor_rpt_1_70
brake_motor_rpt_1_70
=
8
;
// report message
optional
Headlight_rpt_77
headlight_rpt_77
=
9
;
// report message
optional
Accel_rpt_68
accel_rpt_68
=
10
;
// report message
optional
Steering_motor_rpt_3_75
steering_motor_rpt_3_75
=
11
;
// report message
optional
Turn_cmd_63
turn_cmd_63
=
12
;
// report message
optional
Turn_rpt_64
turn_rpt_64
=
13
;
// report message
optional
Shift_cmd_65
shift_cmd_65
=
14
;
// report message
optional
Shift_rpt_66
shift_rpt_66
=
15
;
// report message
optional
Accel_cmd_67
accel_cmd_67
=
16
;
// report message
optional
Lat_lon_heading_rpt_82
lat_lon_heading_rpt_82
=
17
;
// report message
optional
Global_cmd_69
global_cmd_69
=
18
;
// report message
optional
Parking_brake_status_rpt_80
parking_brake_status_rpt_80
=
19
;
// report message
optional
Yaw_rate_rpt_81
yaw_rate_rpt_81
=
20
;
// report message
optional
Horn_rpt_79
horn_rpt_79
=
21
;
// report message
optional
Horn_cmd_78
horn_cmd_78
=
22
;
// report message
optional
Wiper_rpt_91
wiper_rpt_91
=
23
;
// report message
optional
Vehicle_speed_rpt_6f
vehicle_speed_rpt_6f
=
24
;
// report message
optional
Headlight_cmd_76
headlight_cmd_76
=
25
;
// report message
optional
Steering_motor_rpt_2_74
steering_motor_rpt_2_74
=
26
;
// report message
optional
Brake_motor_rpt_2_71
brake_motor_rpt_2_71
=
27
;
// report message
optional
Steering_motor_rpt_1_73
steering_motor_rpt_1_73
=
28
;
// report message
optional
Wiper_cmd_90
wiper_cmd_90
=
29
;
// report message
optional
Brake_motor_rpt_3_72
brake_motor_rpt_3_72
=
30
;
// report message
}
modules/common/adapters/proto/adapter_config.proto
浏览文件 @
3a4512fd
...
...
@@ -95,7 +95,7 @@ message AdapterConfig {
// The max number of received messages to keep in the adapter, this field
// is not useful for PUBLISH_ONLY mode messages.
optional
int32
message_history_limit
=
3
[
default
=
10
];
optional
bool
latch
=
4
[
default
=
false
];
optional
bool
latch
=
4
[
default
=
false
];
optional
string
topic
=
5
;
}
...
...
modules/common/configs/proto/vehicle_config.proto
浏览文件 @
3a4512fd
...
...
@@ -25,10 +25,10 @@ message Extrinsics {
// By default, all are measured with the SI units (meters, meters per second,
// etc.).
message
VehicleParam
{
enum
VehicleBrand
{
LINCOLN_MKZ
=
0
;
GEM
=
1
;
}
enum
VehicleBrand
{
LINCOLN_MKZ
=
0
;
GEM
=
1
;
}
optional
VehicleBrand
brand
=
1
;
// Car center point is car reference point, i.e., center of rear axle.
...
...
@@ -45,7 +45,8 @@ enum VehicleBrand {
optional
double
max_acceleration
=
10
;
optional
double
max_deceleration
=
11
;
// The following items are used to compute trajectory constraints in planning/control/canbus,
// The following items are used to compute trajectory constraints in
// planning/control/canbus,
// vehicle max steer angle
optional
double
max_steer_angle
=
12
;
// vehicle max steer rate; how fast can the steering wheel turn.
...
...
modules/common/monitor_log/proto/monitor_log.proto
浏览文件 @
3a4512fd
...
...
@@ -18,22 +18,22 @@ message MonitorMessageItem {
ROUTING
=
10
;
MONITOR
=
11
;
HMI
=
12
;
RELATIVE_MAP
=
13
;
RELATIVE_MAP
=
13
;
GNSS
=
14
;
CONTI_RADAR
=
15
;
}
optional
MessageSource
source
=
1
[
default
=
UNKNOWN
];
optional
MessageSource
source
=
1
[
default
=
UNKNOWN
];
optional
string
msg
=
2
;
enum
LogLevel
{
INFO
=
0
;
WARN
=
1
;
ERROR
=
2
;
FATAL
=
3
;
INFO
=
0
;
WARN
=
1
;
ERROR
=
2
;
FATAL
=
3
;
}
optional
LogLevel
log_level
=
3
[
default
=
INFO
];
optional
LogLevel
log_level
=
3
[
default
=
INFO
];
}
message
MonitorMessage
{
...
...
modules/common/proto/drive_state.proto
浏览文件 @
3a4512fd
...
...
@@ -2,17 +2,16 @@ syntax = "proto2";
package
apollo
.
common
;
// This is the engage advice that published by critical runtime modules.
message
EngageAdvice
{
enum
Advice
{
UNKNOWN
=
0
;
DISALLOW_ENGAGE
=
1
;
READY_TO_ENGAGE
=
2
;
KEEP_ENGAGED
=
3
;
PREPARE_DISENGAGE
=
4
;
}
enum
Advice
{
UNKNOWN
=
0
;
DISALLOW_ENGAGE
=
1
;
READY_TO_ENGAGE
=
2
;
KEEP_ENGAGED
=
3
;
PREPARE_DISENGAGE
=
4
;
}
optional
Advice
advice
=
1
[
default
=
DISALLOW_ENGAGE
];
optional
string
reason
=
2
;
optional
Advice
advice
=
1
[
default
=
DISALLOW_ENGAGE
];
optional
string
reason
=
2
;
}
modules/common/proto/error_code.proto
浏览文件 @
3a4512fd
...
...
@@ -56,15 +56,15 @@ enum ErrorCode {
HTTP_RUNTIME_ERROR
=
10001
;
// Relative Map error codes.
RELATIVE_MAP_ERROR
=
11000
;
// general relative map error code
RELATIVE_MAP_ERROR
=
11000
;
// general relative map error code
RELATIVE_MAP_NOT_READY
=
11001
;
// Driver error codes.
DRIVER_ERROR_GNSS
=
12000
;
DRIVER_ERROR_VELODYNE
=
13000
;
DRIVER_ERROR_VELODYNE
=
13000
;
}
message
StatusPb
{
optional
ErrorCode
error_code
=
1
[
default
=
OK
];
optional
string
msg
=
2
;
optional
ErrorCode
error_code
=
1
[
default
=
OK
];
optional
string
msg
=
2
;
}
modules/common/proto/pnc_point.proto
浏览文件 @
3a4512fd
syntax
=
"proto2"
;
// Defined Point types that are commonly used in PnC (Planning and Control) modules.
// Defined Point types that are commonly used in PnC (Planning and Control)
// modules.
package
apollo
.
common
;
message
SLPoint
{
optional
double
s
=
1
;
optional
double
l
=
2
;
optional
double
s
=
1
;
optional
double
l
=
2
;
}
message
FrenetFramePoint
{
optional
double
s
=
1
;
optional
double
l
=
2
;
optional
double
dl
=
3
;
optional
double
ddl
=
4
;
optional
double
s
=
1
;
optional
double
l
=
2
;
optional
double
dl
=
3
;
optional
double
ddl
=
4
;
}
message
SpeedPoint
{
...
...
modules/common/util/testdata/simple.proto
浏览文件 @
3a4512fd
...
...
@@ -11,5 +11,5 @@ message SimpleMessage {
}
message
SimpleRepeatedMessage
{
repeated
SimpleMessage
message
=
1
;
repeated
SimpleMessage
message
=
1
;
}
modules/common/vehicle_state/proto/vehicle_state.proto
浏览文件 @
3a4512fd
...
...
@@ -6,18 +6,18 @@ import "modules/canbus/proto/chassis.proto";
import
"modules/localization/proto/pose.proto"
;
message
VehicleState
{
optional
double
x
=
1
[
default
=
0.0
];
optional
double
y
=
2
[
default
=
0.0
];
optional
double
z
=
3
[
default
=
0.0
];
optional
double
timestamp
=
4
[
default
=
0.0
];
optional
double
roll
=
5
[
default
=
0.0
];
optional
double
pitch
=
6
[
default
=
0.0
];
optional
double
yaw
=
7
[
default
=
0.0
];
optional
double
heading
=
8
[
default
=
0.0
];
optional
double
kappa
=
9
[
default
=
0.0
];
optional
double
linear_velocity
=
10
[
default
=
0.0
];
optional
double
angular_velocity
=
11
[
default
=
0.0
];
optional
double
linear_acceleration
=
12
[
default
=
0.0
];
optional
double
x
=
1
[
default
=
0.0
];
optional
double
y
=
2
[
default
=
0.0
];
optional
double
z
=
3
[
default
=
0.0
];
optional
double
timestamp
=
4
[
default
=
0.0
];
optional
double
roll
=
5
[
default
=
0.0
];
optional
double
pitch
=
6
[
default
=
0.0
];
optional
double
yaw
=
7
[
default
=
0.0
];
optional
double
heading
=
8
[
default
=
0.0
];
optional
double
kappa
=
9
[
default
=
0.0
];
optional
double
linear_velocity
=
10
[
default
=
0.0
];
optional
double
angular_velocity
=
11
[
default
=
0.0
];
optional
double
linear_acceleration
=
12
[
default
=
0.0
];
optional
apollo.canbus.Chassis.GearPosition
gear
=
13
;
optional
apollo.canbus.Chassis.DrivingMode
driving_mode
=
14
;
optional
apollo.localization.Pose
pose
=
15
;
...
...
modules/control/proto/control_cmd.proto
浏览文件 @
3a4512fd
...
...
@@ -28,7 +28,8 @@ message ControlCommand {
// target brake in percentage [0, 100]
optional
double
brake
=
4
;
// target non-directional steering rate, in percentage of full scale per second [0, 100]
// target non-directional steering rate, in percentage of full scale per
// second [0, 100]
optional
double
steering_rate
=
6
;
// target steering angle, in percentage of full scale [-100, 100]
...
...
@@ -49,7 +50,8 @@ message ControlCommand {
optional
bool
engine_on_off
=
17
;
// completion percentage of trajectory planned in last cycle
optional
double
trajectory_fraction
=
18
;
optional
apollo.canbus.Chassis.DrivingMode
driving_mode
=
19
[
deprecated
=
true
];
optional
apollo.canbus.Chassis.DrivingMode
driving_mode
=
19
[
deprecated
=
true
];
optional
apollo.canbus.Chassis.GearPosition
gear_location
=
20
;
optional
Debug
debug
=
22
;
...
...
@@ -143,15 +145,15 @@ message SimpleMPCDebug {
optional
double
acceleration_lookup
=
28
;
optional
double
speed_lookup
=
29
;
optional
double
calibration_value
=
30
;
repeated
double
matrix_q_updated
=
31
;
// matrix_q_updated_ size = 6
repeated
double
matrix_r_updated
=
32
;
// matrix_r_updated_ size = 2
repeated
double
matrix_q_updated
=
31
;
// matrix_q_updated_ size = 6
repeated
double
matrix_r_updated
=
32
;
// matrix_r_updated_ size = 2
}
message
InputDebug
{
optional
apollo.common.Header
localization_header
=
1
;
optional
apollo.common.Header
canbus_header
=
2
;
optional
apollo.common.Header
trajectory_header
=
3
;
}
}
message
Debug
{
optional
SimpleLongitudinalDebug
simple_lon_debug
=
1
;
...
...
modules/control/proto/control_conf.proto
浏览文件 @
3a4512fd
...
...
@@ -40,7 +40,6 @@ message ControlConf {
optional
bool
enable_navigation_mode_position_update
=
22
[
default
=
true
];
optional
bool
enable_persistent_estop
=
23
[
default
=
true
];
// original config
optional
double
control_period
=
24
;
optional
double
max_planning_interval_sec
=
25
;
...
...
modules/control/proto/gain_scheduler_conf.proto
浏览文件 @
3a4512fd
...
...
@@ -7,6 +7,6 @@ message GainScheduler {
}
message
GainSchedulerInfo
{
optional
double
speed
=
1
;
// m/s
optional
double
speed
=
1
;
// m/s
optional
double
ratio
=
2
;
}
modules/control/proto/lat_controller_conf.proto
浏览文件 @
3a4512fd
...
...
@@ -6,18 +6,18 @@ import "modules/control/proto/gain_scheduler_conf.proto";
// simple optimal steer control param
message
LatControllerConf
{
optional
double
ts
=
1
;
// sample time (dt) 0.01 now, configurable
optional
double
ts
=
1
;
// sample time (dt) 0.01 now, configurable
// preview window n, preview time = preview window * ts
optional
int32
preview_window
=
2
;
optional
double
cf
=
3
;
optional
double
cr
=
4
;
// N/rad
optional
double
cr
=
4
;
// N/rad
optional
int32
mass_fl
=
5
;
optional
int32
mass_fr
=
6
;
optional
int32
mass_rl
=
7
;
optional
int32
mass_rr
=
8
;
optional
double
eps
=
9
;
// converge threshold for lqr solver
repeated
double
matrix_q
=
10
;
// matrix_q size = 4 + preview_window
optional
int32
cutoff_freq
=
11
;
// cutoff frequency
repeated
double
matrix_q
=
10
;
// matrix_q size = 4 + preview_window
optional
int32
cutoff_freq
=
11
;
// cutoff frequency
optional
int32
mean_filter_window_size
=
12
;
// window size of mean filter
// for a normal car, it should be in range[16, 18]
optional
int32
max_iteration
=
13
;
// maximum iteration for lqr solve
...
...
modules/control/proto/lon_controller_conf.proto
浏览文件 @
3a4512fd
...
...
@@ -12,7 +12,7 @@ message FilterConf {
// controller param
message
LonControllerConf
{
optional
double
ts
=
1
;
// longitudinal controller sampling time
optional
double
ts
=
1
;
// longitudinal controller sampling time
optional
double
brake_deadzone
=
2
;
optional
double
throttle_deadzone
=
3
;
...
...
@@ -24,7 +24,7 @@ message LonControllerConf {
optional
PidConf
station_pid_conf
=
8
;
optional
PidConf
low_speed_pid_conf
=
9
;
optional
PidConf
high_speed_pid_conf
=
10
;
optional
double
switch_speed
=
11
;
// low/high speed controller switch speed
optional
double
switch_speed
=
11
;
// low/high speed controller switch speed
optional
FilterConf
pitch_angle_filter_conf
=
12
;
...
...
modules/control/proto/mpc_controller_conf.proto
浏览文件 @
3a4512fd
...
...
@@ -8,17 +8,17 @@ import "modules/control/proto/gain_scheduler_conf.proto";
// simple optimal steer control param
message
MPCControllerConf
{
optional
double
ts
=
1
;
// sample time (dt) 0.01 now, configurable
optional
double
ts
=
1
;
// sample time (dt) 0.01 now, configurable
optional
double
cf
=
2
;
optional
double
cr
=
3
;
// N/rad
optional
double
cr
=
3
;
// N/rad
optional
int32
mass_fl
=
4
;
optional
int32
mass_fr
=
5
;
optional
int32
mass_rl
=
6
;
optional
int32
mass_rr
=
7
;
optional
double
eps
=
8
;
// converge threshold
repeated
double
matrix_q
=
9
;
// matrix_q size = 6
repeated
double
matrix_r
=
10
;
// matrix_r size = 2
optional
int32
cutoff_freq
=
11
;
// cutoff frequency
optional
double
eps
=
8
;
// converge threshold
repeated
double
matrix_q
=
9
;
// matrix_q size = 6
repeated
double
matrix_r
=
10
;
// matrix_r size = 2
optional
int32
cutoff_freq
=
11
;
// cutoff frequency
optional
int32
mean_filter_window_size
=
12
;
// window size of mean filter
// for a normal car, it should be in range[16, 18]
optional
int32
max_iteration
=
13
;
// maximum iteration for lqr solve
...
...
modules/data/proto/static_info.proto
浏览文件 @
3a4512fd
...
...
@@ -10,9 +10,7 @@ import "modules/routing/proto/routing.proto";
message
VehicleInfo
{
optional
string
name
=
1
;
enum
Brand
{
LINCOLN
=
1
;
}
enum
Brand
{
LINCOLN
=
1
;
}
optional
Brand
brand
=
2
;
enum
Model
{
// Lincoln model
...
...
modules/data/proto/task.proto
浏览文件 @
3a4512fd
...
...
@@ -4,7 +4,6 @@ package apollo.data;
import
"modules/data/proto/static_info.proto"
;
message
MapPoint
{
optional
double
latitude
=
1
;
optional
double
longitude
=
2
;
...
...
modules/data/proto/warehouse_query.proto
浏览文件 @
3a4512fd
...
...
@@ -4,7 +4,6 @@ package apollo.data;
import
"modules/data/proto/task.proto"
;
message
SearchRequest
{
// Search criteria.
optional
string
vehicle_name
=
1
;
...
...
modules/dreamview/proto/simulation_world.proto
浏览文件 @
3a4512fd
...
...
@@ -24,13 +24,13 @@ message Prediction {
// Next-id: 13
message
Decision
{
enum
Type
{
IGNORE
=
0
;
// Ignore the object
STOP
=
1
;
// Stop at a distance from the object
NUDGE
=
2
;
// Go around the object
YIELD
=
3
;
// Go after the object
OVERTAKE
=
4
;
// Go before the object
FOLLOW
=
5
;
// Follow the object in the same lane
SIDEPASS
=
6
;
// Pass the object in neighboring lane
IGNORE
=
0
;
// Ignore the object
STOP
=
1
;
// Stop at a distance from the object
NUDGE
=
2
;
// Go around the object
YIELD
=
3
;
// Go after the object
OVERTAKE
=
4
;
// Go before the object
FOLLOW
=
5
;
// Follow the object in the same lane
SIDEPASS
=
6
;
// Pass the object in neighboring lane
}
optional
Type
type
=
1
[
default
=
IGNORE
];
...
...
@@ -87,8 +87,8 @@ message Object {
// Motion Info
// For objects with motion info such as ADC.
optional
double
speed
=
11
;
// in m/s
optional
double
speed_acceleration
=
12
;
// in m/s^2
optional
double
speed
=
11
;
// in m/s
optional
double
speed_acceleration
=
12
;
// in m/s^2
optional
double
speed_jerk
=
13
;
optional
double
spin
=
14
;
optional
double
spin_acceleration
=
15
;
...
...
@@ -133,10 +133,10 @@ message Object {
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.
VIRTUAL
=
6
;
// virtual object created by decision module.
CIPV
=
7
;
// closest in-path vehicle determined by perception module.
BICYCLE
=
4
;
// bike, motor bike.
VEHICLE
=
5
;
// passenger car or truck.
VIRTUAL
=
6
;
// virtual object created by decision module.
CIPV
=
7
;
// closest in-path vehicle determined by perception module.
};
optional
Type
type
=
29
;
// obstacle type
...
...
@@ -151,7 +151,7 @@ message DelaysInMs {
optional
double
localization
=
3
;
optional
double
perception_obstacle
=
4
;
optional
double
planning
=
5
;
optional
double
prediction
=
7
;
optional
double
prediction
=
7
;
optional
double
traffic_light
=
8
;
optional
double
control
=
9
;
}
...
...
@@ -215,7 +215,7 @@ message SimulationWorld {
repeated
Object
planning_trajectory
=
8
;
// Main decision
optional
Object
main_stop
=
9
[
deprecated
=
true
];
optional
Object
main_stop
=
9
[
deprecated
=
true
];
optional
Object
main_decision
=
10
;
// Speed limit
...
...
@@ -225,7 +225,8 @@ message SimulationWorld {
optional
DelaysInMs
delay
=
12
;
// Notification
optional
apollo.common.monitor.MonitorMessage
monitor
=
13
[
deprecated
=
true
];
optional
apollo.common.monitor.MonitorMessage
monitor
=
13
[
deprecated
=
true
];
repeated
Notification
notification
=
14
;
// Engage advice from planning
...
...
modules/drivers/camera/proto/camera_conf.proto
浏览文件 @
3a4512fd
...
...
@@ -6,33 +6,32 @@ message CameraConf {
required
uint32
index
=
1
[
default
=
0
];
optional
string
position
=
2
[
default
=
"centre"
];
// packet params
optional
string
topic_name
=
3
[
default
=
""
];
optional
string
video_device
=
4
[
default
=
"/dev/video0"
];
optional
string
camera_name
=
5
[
default
=
"head_camera"
];
optional
string
camera_info_url
=
6
[
default
=
""
];
optional
string
camera_frame_id
=
7
[
default
=
""
];
optional
uint32
camera_timeout
=
8
[
default
=
1000
];
optional
double
spin_interval
=
9
[
default
=
0.005
];
optional
string
topic_name
=
3
[
default
=
""
];
optional
string
video_device
=
4
[
default
=
"/dev/video0"
];
optional
string
camera_name
=
5
[
default
=
"head_camera"
];
optional
string
camera_info_url
=
6
[
default
=
""
];
optional
string
camera_frame_id
=
7
[
default
=
""
];
optional
uint32
camera_timeout
=
8
[
default
=
1000
];
optional
double
spin_interval
=
9
[
default
=
0.005
];
// possible values: mmap, read, userptr
optional
string
io_method
=
10
[
default
=
"mmap"
];
optional
string
io_method
=
10
[
default
=
"mmap"
];
// possible values: yuyv, uyvy, mjpeg, yuvmono10, rgb24
optional
string
pixel_format
=
11
[
default
=
"mjpeg"
];
optional
uint32
image_width
=
12
[
default
=
640
];
optional
uint32
image_height
=
13
[
default
=
480
];
optional
uint64
frame_rate
=
14
[
default
=
30
];
optional
int32
brightness
=
15
[
default
=-
1
];
// 0-255, -1 "leave alone"
optional
int32
contrast
=
16
[
default
=-
1
];
// 0-255, -1 "leave alone"
optional
int32
saturation
=
17
[
default
=-
1
];
// 0-255, -1 "leave alone"
optional
int32
sharpness
=
18
[
default
=-
1
];
// 0-255, -1 "leave alone"
optional
int32
gain
=
19
[
default
=-
1
];
// 0-255, -1 "leave alone"
optional
bool
autoexposure
=
20
[
default
=
true
];
optional
uint32
exposure
=
21
[
default
=
100
];
optional
bool
autofocus
=
22
[
default
=
false
];
optional
int32
focus
=
23
[
default
=-
1
];
// 0-255, -1 "leave alone"
optional
bool
auto_white_balance
=
24
[
default
=
true
];
optional
int32
white_balance
=
25
[
default
=
4000
];
optional
uint32
trigger_internal
=
26
[
default
=
0
];
optional
uint32
trigger_fps
=
27
[
default
=
30
];
optional
uint32
error_code
=
28
[
default
=
0
];
optional
string
pixel_format
=
11
[
default
=
"mjpeg"
];
optional
uint32
image_width
=
12
[
default
=
640
];
optional
uint32
image_height
=
13
[
default
=
480
];
optional
uint64
frame_rate
=
14
[
default
=
30
];
optional
int32
brightness
=
15
[
default
=
-
1
];
// 0-255, -1 "leave alone"
optional
int32
contrast
=
16
[
default
=
-
1
];
// 0-255, -1 "leave alone"
optional
int32
saturation
=
17
[
default
=
-
1
];
// 0-255, -1 "leave alone"
optional
int32
sharpness
=
18
[
default
=
-
1
];
// 0-255, -1 "leave alone"
optional
int32
gain
=
19
[
default
=
-
1
];
// 0-255, -1 "leave alone"
optional
bool
autoexposure
=
20
[
default
=
true
];
optional
uint32
exposure
=
21
[
default
=
100
];
optional
bool
autofocus
=
22
[
default
=
false
];
optional
int32
focus
=
23
[
default
=
-
1
];
// 0-255, -1 "leave alone"
optional
bool
auto_white_balance
=
24
[
default
=
true
];
optional
int32
white_balance
=
25
[
default
=
4000
];
optional
uint32
trigger_internal
=
26
[
default
=
0
];
optional
uint32
trigger_fps
=
27
[
default
=
30
];
optional
uint32
error_code
=
28
[
default
=
0
];
}
modules/drivers/gnss/proto/config.proto
浏览文件 @
3a4512fd
...
...
@@ -61,20 +61,19 @@ message NovatelConfig {
message
UbloxConfig
{
}
enum
ImuType
{
// We currently use the following IMUs. We'll extend this list when a new IMU
// is introduced.
IMAR_FSAS
=
13
;
// iMAR iIMU-FSAS
ISA100C
=
26
;
// Northrop Grumman Litef ISA-100C
ADIS16488
=
31
;
// Analog Devices ADIS16488
STIM300
=
32
;
// Sensonor STIM300
ISA100
=
34
;
// Northrop Grumman Litef ISA-100
ISA100_400HZ
=
38
;
// Northrop Grumman Litef ISA-100
ISA100C_400HZ
=
39
;
// Northrop Grumman Litef ISA-100
G320N
=
40
;
// EPSON G320N
CPT_XW5651
=
41
;
// IMU@SPAN-CPT, and XingWangYuda 5651
UM442
=
42
;
// UM442
IMAR_FSAS
=
13
;
// iMAR iIMU-FSAS
ISA100C
=
26
;
// Northrop Grumman Litef ISA-100C
ADIS16488
=
31
;
// Analog Devices ADIS16488
STIM300
=
32
;
// Sensonor STIM300
ISA100
=
34
;
// Northrop Grumman Litef ISA-100
ISA100_400HZ
=
38
;
// Northrop Grumman Litef ISA-100
ISA100C_400HZ
=
39
;
// Northrop Grumman Litef ISA-100
G320N
=
40
;
// EPSON G320N
CPT_XW5651
=
41
;
// IMU@SPAN-CPT, and XingWangYuda 5651
UM442
=
42
;
// UM442
}
message
TF
{
...
...
@@ -134,5 +133,4 @@ message Config {
optional
string
gps_channel_name
=
28
;
optional
string
bestpos_channel_name
=
29
;
optional
string
chassis_channel_name
=
30
;
}
modules/drivers/gnss/proto/gnss.proto
浏览文件 @
3a4512fd
...
...
@@ -10,7 +10,8 @@ import "modules/common/proto/geometry.proto";
message
Gnss
{
optional
apollo.common.Header
header
=
1
;
// The time of position measurement, seconds since the GPS epoch (Jan 6, 1980).
// The time of position measurement, seconds since the GPS epoch (Jan 6,
// 1980).
optional
double
measurement_time
=
2
;
// In seconds.
// When velocity is computed from differentiating successive position
...
...
@@ -36,20 +37,20 @@ message Gnss {
enum
Type
{
// It is recommended not using the GNSS solution if solution type is INVALID
// or PROPAGATED.
INVALID
=
0
;
// Invalid solution due to insufficient observations,
// integrity warning, etc.
INVALID
=
0
;
// Invalid solution due to insufficient observations,
// integrity warning, etc.
PROPAGATED
=
1
;
// Propagated by a Kalman filter without new observations.
// It is recommended using the following types of solution.
SINGLE
=
2
;
// Standard GNSS solution without any corrections.
PSRDIFF
=
3
;
// Pseudorange differential solution, including WAAS/SBAS
// solution.
PPP
=
4
;
// Precise Point Positioning (PPP) solution.
RTK_FLOAT
=
5
;
// Real Time Kinematic (RTK) float solution.
RTK_INTEGER
=
6
;
// RTK integer solution.
SINGLE
=
2
;
// Standard GNSS solution without any corrections.
PSRDIFF
=
3
;
// Pseudorange differential solution, including WAAS/SBAS
// solution.
PPP
=
4
;
// Precise Point Positioning (PPP) solution.
RTK_FLOAT
=
5
;
// Real Time Kinematic (RTK) float solution.
RTK_INTEGER
=
6
;
// RTK integer solution.
}
optional
Type
type
=
9
;
optional
uint32
solution_status
=
10
;
optional
uint32
solution_status
=
10
;
optional
uint32
position_type
=
11
;
}
...
...
modules/drivers/gnss/proto/gnss_best_pose.proto
浏览文件 @
3a4512fd
...
...
@@ -5,24 +5,26 @@ package apollo.drivers.gnss;
import
"modules/common/proto/header.proto"
;
enum
SolutionStatus
{
SOL_COMPUTED
=
0
;
// solution computed
SOL_COMPUTED
=
0
;
// solution computed
INSUFFICIENT_OBS
=
1
;
// insufficient observations
NO_CONVERGENCE
=
2
;
// no convergence
SINGULARITY
=
3
;
// singularity at parameters matrix
COV_TRACE
=
4
;
// covariance trace exceeds maximum (trace > 1000 m)
TEST_DIST
=
5
;
// test distance exceeded (max of 3 rejections if distance > 10
// km)
COLD_START
=
6
;
// not yet converged from cold start
V_H_LIMIT
=
7
;
// height or velocity limits exceeded
VARIANCE
=
8
;
// variance exceeds limits
RESIDUALS
=
9
;
// residuals are too large
NO_CONVERGENCE
=
2
;
// no convergence
SINGULARITY
=
3
;
// singularity at parameters matrix
COV_TRACE
=
4
;
// covariance trace exceeds maximum (trace > 1000 m)
TEST_DIST
=
5
;
// test distance exceeded (max of 3 rejections if distance > 10
// km)
COLD_START
=
6
;
// not yet converged from cold start
V_H_LIMIT
=
7
;
// height or velocity limits exceeded
VARIANCE
=
8
;
// variance exceeds limits
RESIDUALS
=
9
;
// residuals are too large
INTEGRITY_WARNING
=
13
;
// large residuals make position questionable
PENDING
=
18
;
// receiver computes its position and determines if the fixed
// position is valid
INVALID_FIX
=
19
;
// the fixed position entered using the fix position
// command is invalid
INVALID_FIX
=
19
;
// the fixed position entered using the fix position
// command is invalid
UNAUTHORIZED
=
20
;
// position type is unauthorized
INVALID_RATE
=
22
;
// selected logging rate is not supported for this solution type
INVALID_RATE
=
22
;
// selected logging rate is not supported for this solution type
}
enum
SolutionType
{
...
...
@@ -44,7 +46,8 @@ enum SolutionType {
L1_INT
=
48
;
WIDE_INT
=
49
;
NARROW_INT
=
50
;
RTK_DIRECT_INS
=
51
;
// RTK filter is directly initialized from the INS filter.
RTK_DIRECT_INS
=
51
;
// RTK filter is directly initialized from the INS filter.
INS_SBAS
=
52
;
INS_PSRSP
=
53
;
INS_PSRDIFF
=
54
;
...
...
@@ -71,24 +74,28 @@ message GnssBestPose {
optional
double
measurement_time
=
2
;
// In seconds.
optional
SolutionStatus
sol_status
=
3
;
optional
SolutionType
sol_type
=
4
;
optional
double
latitude
=
5
;
// in degrees
optional
double
longitude
=
6
;
// in degrees
optional
double
latitude
=
5
;
// in degrees
optional
double
longitude
=
6
;
// in degrees
optional
double
height_msl
=
7
;
// height above mean sea level in meters
optional
float
undulation
=
8
;
// undulation = height_wgs84 - height_msl
optional
DatumId
datum_id
=
9
;
// datum id number
optional
float
latitude_std_dev
=
10
;
// latitude standard deviation (m)
optional
float
undulation
=
8
;
// undulation = height_wgs84 - height_msl
optional
DatumId
datum_id
=
9
;
// datum id number
optional
float
latitude_std_dev
=
10
;
// latitude standard deviation (m)
optional
float
longitude_std_dev
=
11
;
// longitude standard deviation (m)
optional
float
height_std_dev
=
12
;
// height standard deviation (m)
optional
bytes
base_station_id
=
13
;
// base station id
optional
float
differential_age
=
14
;
// differential position age (sec)
optional
float
solution_age
=
15
;
// solution age (sec)
optional
float
height_std_dev
=
12
;
// height standard deviation (m)
optional
bytes
base_station_id
=
13
;
// base station id
optional
float
differential_age
=
14
;
// differential position age (sec)
optional
float
solution_age
=
15
;
// solution age (sec)
optional
uint32
num_sats_tracked
=
16
;
// number of satellites tracked
optional
uint32
num_sats_in_solution
=
17
;
// number of satellites used in solution
optional
uint32
num_sats_l1
=
18
;
// number of L1/E1/B1 satellites used in solution
optional
uint32
num_sats_multi
=
19
;
// number of multi-frequency satellites used in solution
optional
uint32
num_sats_in_solution
=
17
;
// number of satellites used in solution
optional
uint32
num_sats_l1
=
18
;
// number of L1/E1/B1 satellites used in solution
optional
uint32
num_sats_multi
=
19
;
// number of multi-frequency satellites used in solution
optional
uint32
reserved
=
20
;
// reserved
optional
uint32
extended_solution_status
=
21
;
// extended solution status - OEMV and
// greater only
optional
uint32
extended_solution_status
=
21
;
// extended solution status - OEMV and
// greater only
optional
uint32
galileo_beidou_used_mask
=
22
;
optional
uint32
gps_glonass_used_mask
=
23
;
}
modules/drivers/gnss/proto/gnss_raw_observation.proto
浏览文件 @
3a4512fd
...
...
@@ -3,195 +3,187 @@ syntax = "proto2";
package
apollo
.
drivers.gnss
;
//pre-defined GNSS band frequency ID
enum
GnssBandID
{
BAND_UNKNOWN
=
0
;
GPS_L1
=
1
;
GPS_L2
=
2
;
GPS_L5
=
3
;
BDS_B1
=
4
;
BDS_B2
=
5
;
BDS_B3
=
6
;
GLO_G1
=
7
;
GLO_G2
=
8
;
GLO_G3
=
9
;
// pre-defined GNSS band frequency ID
enum
GnssBandID
{
BAND_UNKNOWN
=
0
;
GPS_L1
=
1
;
GPS_L2
=
2
;
GPS_L5
=
3
;
BDS_B1
=
4
;
BDS_B2
=
5
;
BDS_B3
=
6
;
GLO_G1
=
7
;
GLO_G2
=
8
;
GLO_G3
=
9
;
}
//observation and ephemeris related system time type
enum
GnssTimeType
{
TIME_UNKNOWN
=
0
;
GPS_TIME
=
1
;
BDS_TIME
=
2
;
GLO_TIME
=
3
;
GAL_TIME
=
4
;
// observation and ephemeris related system time type
enum
GnssTimeType
{
TIME_UNKNOWN
=
0
;
GPS_TIME
=
1
;
BDS_TIME
=
2
;
GLO_TIME
=
3
;
GAL_TIME
=
4
;
}
//observation and ephemeris related system type
enum
GnssType
{
SYS_UNKNOWN
=
0
;
GPS_SYS
=
1
;
BDS_SYS
=
2
;
GLO_SYS
=
3
;
GAL_SYS
=
4
;
// observation and ephemeris related system type
enum
GnssType
{
SYS_UNKNOWN
=
0
;
GPS_SYS
=
1
;
BDS_SYS
=
2
;
GLO_SYS
=
3
;
GAL_SYS
=
4
;
}
//type of pseudo-range
enum
PseudoType
{
CODE_UNKNOWN
=
0
;
CORSE_CODE
=
1
;
PRECISION_CODE
=
2
;
// type of pseudo-range
enum
PseudoType
{
CODE_UNKNOWN
=
0
;
CORSE_CODE
=
1
;
PRECISION_CODE
=
2
;
}
//This message defines one band observation of a certain satellite
message
BandObservation
{
//observation on a certain frequency band
optional
GnssBandID
band_id
=
1
[
default
=
BAND_UNKNOWN
];
optional
double
frequency_value
=
2
;
optional
PseudoType
pseudo_type
=
3
[
default
=
CODE_UNKNOWN
];
//unit in meter
optional
double
pseudo_range
=
4
;
//unit in cycle
optional
double
carrier_phase
=
5
;
//Indicator of losing tracking of the signal
optional
uint32
loss_lock_index
=
6
;
//unit in /s
optional
double
doppler
=
7
;
//Signal strength: signal noise ratio or carrier noise ratio
optional
float
snr
=
8
;
// This message defines one band observation of a certain satellite
message
BandObservation
{
// observation on a certain frequency band
optional
GnssBandID
band_id
=
1
[
default
=
BAND_UNKNOWN
];
optional
double
frequency_value
=
2
;
optional
PseudoType
pseudo_type
=
3
[
default
=
CODE_UNKNOWN
];
// unit in meter
optional
double
pseudo_range
=
4
;
// unit in cycle
optional
double
carrier_phase
=
5
;
// Indicator of losing tracking of the signal
optional
uint32
loss_lock_index
=
6
;
// unit in /s
optional
double
doppler
=
7
;
// Signal strength: signal noise ratio or carrier noise ratio
optional
float
snr
=
8
;
}
//This message defines one satellite observation of a certain epoch
message
SatelliteObservation
{
optional
uint32
sat_prn
=
1
;
optional
GnssType
sat_sys
=
2
[
default
=
GPS_SYS
];
optional
uint32
band_obs_num
=
3
;
repeated
BandObservation
band_obs
=
4
;
// This message defines one satellite observation of a certain epoch
message
SatelliteObservation
{
optional
uint32
sat_prn
=
1
;
optional
GnssType
sat_sys
=
2
[
default
=
GPS_SYS
];
optional
uint32
band_obs_num
=
3
;
repeated
BandObservation
band_obs
=
4
;
}
//This message defines one epoch observation on a certain time of a receiver
message
EpochObservation
{
//Unique id to a certain receiver
//0 for rover, otherwise for baser, supporting multi-baser mode
optional
uint32
receiver_id
=
1
;
optional
GnssTimeType
gnss_time_type
=
2
[
default
=
GPS_TIME
];
optional
uint32
gnss_week
=
3
;
optional
double
gnss_second_s
=
4
;
//Baser observation should be bound with coordinates
//unit in meter
optional
double
position_x
=
5
;
//unit in meter
optional
double
position_y
=
6
;
//unit in meter
optional
double
position_z
=
7
;
//Health indicator: 0 for healthy while 1 for bad observation
optional
uint32
health_flag
=
8
[
default
=
0
];
//Number of observed satellites
optional
uint32
sat_obs_num
=
9
;
//Group of observed satellite observation
repeated
SatelliteObservation
sat_obs
=
10
;
// This message defines one epoch observation on a certain time of a receiver
message
EpochObservation
{
// Unique id to a certain receiver
// 0 for rover, otherwise for baser, supporting multi-baser mode
optional
uint32
receiver_id
=
1
;
optional
GnssTimeType
gnss_time_type
=
2
[
default
=
GPS_TIME
];
optional
uint32
gnss_week
=
3
;
optional
double
gnss_second_s
=
4
;
// Baser observation should be bound with coordinates
// unit in meter
optional
double
position_x
=
5
;
// unit in meter
optional
double
position_y
=
6
;
// unit in meter
optional
double
position_z
=
7
;
// Health indicator: 0 for healthy while 1 for bad observation
optional
uint32
health_flag
=
8
[
default
=
0
];
// Number of observed satellites
optional
uint32
sat_obs_num
=
9
;
// Group of observed satellite observation
repeated
SatelliteObservation
sat_obs
=
10
;
}
//This message defines main six keppler orbit parameters and perturbations,
//designed for gps, beidou, (also supporting gnss, galileo)
message
KepplerOrbit
{
optional
GnssType
gnss_type
=
1
[
default
=
GPS_SYS
];
optional
uint32
sat_prn
=
2
;
optional
GnssTimeType
gnss_time_type
=
3
[
default
=
GPS_TIME
];
//TOC: time of clock
optional
uint32
year
=
4
;
optional
uint32
month
=
5
;
optional
uint32
day
=
6
;
optional
uint32
hour
=
7
;
optional
uint32
minute
=
8
;
optional
double
second_s
=
9
;
//GNSS week number
optional
uint32
week_num
=
10
;
optional
double
reserved
=
11
;
optional
double
af0
=
12
;
//clock correction(sec)
optional
double
af1
=
13
;
//clock correction(sec/sec)
optional
double
af2
=
14
;
//clock correction(sec/sec2)
optional
double
iode
=
15
;
//Issue Of Data, Ephemeris in subframes 2 and 3
optional
double
deltan
=
16
;
//mean anomaly correction semi-circles per sec*pi = rads
optional
double
m0
=
17
;
//mean anomaly at ref time semi-circles*pi = rads
optional
double
e
=
18
;
//eccentricity
optional
double
roota
=
19
;
//sqr root a ( meters 1/2 )
optional
double
toe
=
20
;
//ref time (sec) of ephemeris
optional
double
toc
=
21
;
//ref time (sec) of clock
optional
double
cic
=
22
;
//harmonic correction term(rads)
optional
double
crc
=
23
;
//harmonic correction term(meters)
optional
double
cis
=
24
;
//harmonic correction term(rads)
optional
double
crs
=
25
;
//harmonic correction term(meters)
optional
double
cuc
=
26
;
//harmonic correction term(rads)
optional
double
cus
=
27
;
//harmonic correction term(rads)
optional
double
omega0
=
28
;
//longitude of ascending node semi-circles*pi = rads
optional
double
omega
=
29
;
//argument of perigee semi-circles*pi
optional
double
i0
=
30
;
//inclination angle at ref time semi-circles*pi
optional
double
omegadot
=
31
;
//rate of right ascension semi-circles/sec*pi
optional
double
idot
=
32
;
//rate of inclination semi-circles/sec*pi
optional
double
codesonL2channel
=
33
;
//pseudo range codes on L2
optional
uint32
L2Pdataflag
=
34
;
//data flag of L2P
optional
uint32
accuracy
=
35
;
//user range accuracy
optional
uint32
health
=
36
;
//satellite health: 0=good,1=bad
optional
double
tgd
=
37
;
//group delay (s)
optional
double
iodc
=
38
;
//Issue Of Data, Clock
// This message defines main six keppler orbit parameters and perturbations,
// designed for gps, beidou, (also supporting gnss, galileo)
message
KepplerOrbit
{
optional
GnssType
gnss_type
=
1
[
default
=
GPS_SYS
];
optional
uint32
sat_prn
=
2
;
optional
GnssTimeType
gnss_time_type
=
3
[
default
=
GPS_TIME
];
// TOC: time of clock
optional
uint32
year
=
4
;
optional
uint32
month
=
5
;
optional
uint32
day
=
6
;
optional
uint32
hour
=
7
;
optional
uint32
minute
=
8
;
optional
double
second_s
=
9
;
// GNSS week number
optional
uint32
week_num
=
10
;
optional
double
reserved
=
11
;
optional
double
af0
=
12
;
// clock correction(sec)
optional
double
af1
=
13
;
// clock correction(sec/sec)
optional
double
af2
=
14
;
// clock correction(sec/sec2)
optional
double
iode
=
15
;
// Issue Of Data, Ephemeris in subframes 2 and 3
optional
double
deltan
=
16
;
// mean anomaly correction semi-circles per sec*pi = rads
optional
double
m0
=
17
;
// mean anomaly at ref time semi-circles*pi = rads
optional
double
e
=
18
;
// eccentricity
optional
double
roota
=
19
;
// sqr root a ( meters 1/2 )
optional
double
toe
=
20
;
// ref time (sec) of ephemeris
optional
double
toc
=
21
;
// ref time (sec) of clock
optional
double
cic
=
22
;
// harmonic correction term(rads)
optional
double
crc
=
23
;
// harmonic correction term(meters)
optional
double
cis
=
24
;
// harmonic correction term(rads)
optional
double
crs
=
25
;
// harmonic correction term(meters)
optional
double
cuc
=
26
;
// harmonic correction term(rads)
optional
double
cus
=
27
;
// harmonic correction term(rads)
optional
double
omega0
=
28
;
// longitude of ascending node semi-circles*pi = rads
optional
double
omega
=
29
;
// argument of perigee semi-circles*pi
optional
double
i0
=
30
;
// inclination angle at ref time semi-circles*pi
optional
double
omegadot
=
31
;
// rate of right ascension semi-circles/sec*pi
optional
double
idot
=
32
;
// rate of inclination semi-circles/sec*pi
optional
double
codesonL2channel
=
33
;
// pseudo range codes on L2
optional
uint32
L2Pdataflag
=
34
;
// data flag of L2P
optional
uint32
accuracy
=
35
;
// user range accuracy
optional
uint32
health
=
36
;
// satellite health: 0=good,1=bad
optional
double
tgd
=
37
;
// group delay (s)
optional
double
iodc
=
38
;
// Issue Of Data, Clock
}
//This message defines orbit parameters of GLONASS
message
GlonassOrbit
{
optional
GnssType
gnss_type
=
1
[
default
=
GLO_SYS
];
optional
uint32
slot_prn
=
2
;
optional
GnssTimeType
gnss_time_type
=
3
[
default
=
GLO_TIME
];
//refer to GLONASS time and toc == toe
optional
double
toe
=
4
;
//must convert toe to UTC(+0) format and fulfill year, month...second_s,etc.
optional
uint32
year
=
5
;
optional
uint32
month
=
6
;
optional
uint32
day
=
7
;
optional
uint32
hour
=
8
;
optional
uint32
minute
=
9
;
optional
double
second_s
=
10
;
//unit in meter
optional
int32
frequency_no
=
11
;
//GNSS week number
optional
uint32
week_num
=
12
;
//GNSS week second in seconds
optional
double
week_second_s
=
13
;
//frame broadcasted time
optional
double
tk
=
14
;
//clock correction(sec/sec),warning: set clock_offset = -TauN
optional
double
clock_offset
=
15
;
//clock correction(sec/sec2),warning: set clock_drift = +GammaN
optional
double
clock_drift
=
16
;
//Satellite health : 0=good,1=bad
optional
uint32
health
=
17
;
//unit in meter
optional
double
position_x
=
18
;
optional
double
position_y
=
19
;
optional
double
position_z
=
20
;
//unit in m/s
optional
double
velocity_x
=
21
;
optional
double
velocity_y
=
22
;
optional
double
velocity_z
=
23
;
//unit in m/s2
optional
double
accelerate_x
=
24
;
optional
double
accelerate_y
=
25
;
optional
double
accelerate_z
=
26
;
optional
double
infor_age
=
27
;
// This message defines orbit parameters of GLONASS
message
GlonassOrbit
{
optional
GnssType
gnss_type
=
1
[
default
=
GLO_SYS
];
optional
uint32
slot_prn
=
2
;
optional
GnssTimeType
gnss_time_type
=
3
[
default
=
GLO_TIME
];
// refer to GLONASS time and toc == toe
optional
double
toe
=
4
;
// must convert toe to UTC(+0) format and fulfill year, month...second_s,etc.
optional
uint32
year
=
5
;
optional
uint32
month
=
6
;
optional
uint32
day
=
7
;
optional
uint32
hour
=
8
;
optional
uint32
minute
=
9
;
optional
double
second_s
=
10
;
// unit in meter
optional
int32
frequency_no
=
11
;
// GNSS week number
optional
uint32
week_num
=
12
;
// GNSS week second in seconds
optional
double
week_second_s
=
13
;
// frame broadcasted time
optional
double
tk
=
14
;
// clock correction(sec/sec),warning: set clock_offset = -TauN
optional
double
clock_offset
=
15
;
// clock correction(sec/sec2),warning: set clock_drift = +GammaN
optional
double
clock_drift
=
16
;
// Satellite health : 0=good,1=bad
optional
uint32
health
=
17
;
// unit in meter
optional
double
position_x
=
18
;
optional
double
position_y
=
19
;
optional
double
position_z
=
20
;
// unit in m/s
optional
double
velocity_x
=
21
;
optional
double
velocity_y
=
22
;
optional
double
velocity_z
=
23
;
// unit in m/s2
optional
double
accelerate_x
=
24
;
optional
double
accelerate_y
=
25
;
optional
double
accelerate_z
=
26
;
optional
double
infor_age
=
27
;
}
//This message encapsulates keppler orbit message and glonass message
message
GnssEphemeris
{
optional
GnssType
gnss_type
=
1
[
default
=
GLO_SYS
];
optional
KepplerOrbit
keppler_orbit
=
2
;
optional
GlonassOrbit
glonass_orbit
=
3
;
// This message encapsulates keppler orbit message and glonass message
message
GnssEphemeris
{
optional
GnssType
gnss_type
=
1
[
default
=
GLO_SYS
];
optional
KepplerOrbit
keppler_orbit
=
2
;
optional
GlonassOrbit
glonass_orbit
=
3
;
}
modules/drivers/gnss/proto/heading.proto
浏览文件 @
3a4512fd
...
...
@@ -5,29 +5,31 @@ package apollo.drivers.gnss;
import
"modules/common/proto/header.proto"
;
message
Heading
{
optional
apollo.common.Header
header
=
1
;
optional
double
measurement_time
=
2
;
optional
apollo.common.Header
header
=
1
;
optional
double
measurement_time
=
2
;
optional
uint32
solution_status
=
3
;
optional
uint32
position_type
=
4
;
optional
uint32
solution_status
=
3
;
optional
uint32
position_type
=
4
;
optional
float
baseline_length
=
5
;
optional
float
heading
=
6
;
optional
float
pitch
=
7
;
optional
float
baseline_length
=
5
;
optional
float
heading
=
6
;
optional
float
pitch
=
7
;
optional
float
reserved
=
8
;
optional
float
heading_std_dev
=
9
;
optional
float
pitch_std_dev
=
10
;
optional
float
reserved
=
8
;
optional
float
heading_std_dev
=
9
;
optional
float
pitch_std_dev
=
10
;
optional
bytes
station_id
=
11
;
optional
bytes
station_id
=
11
;
optional
uint32
satellite_tracked_number
=
12
;
optional
uint32
satellite_soulution_number
=
13
;
optional
uint32
satellite_number_obs
=
14
;
//Number of satellites above the elevation mask angle
optional
uint32
satellite_number_multi
=
15
;
//Number of satellites above the mask angle with L2
optional
uint32
satellite_tracked_number
=
12
;
optional
uint32
satellite_soulution_number
=
13
;
optional
uint32
satellite_number_obs
=
14
;
// Number of satellites above the elevation mask angle
optional
uint32
satellite_number_multi
=
15
;
// Number of satellites above the mask angle with L2
optional
uint32
solution_source
=
16
;
optional
uint32
extended_solution_status
=
17
;
optional
uint32
galileo_beidou_sig_mask
=
18
;
optional
uint32
gps_glonass_sig_mask
=
19
;
optional
uint32
solution_source
=
16
;
optional
uint32
extended_solution_status
=
17
;
optional
uint32
galileo_beidou_sig_mask
=
18
;
optional
uint32
gps_glonass_sig_mask
=
19
;
}
modules/drivers/lidar_velodyne/proto/cloud_node_conf.proto
浏览文件 @
3a4512fd
...
...
@@ -4,11 +4,12 @@ package apollo.drivers.lidar_velodyne;
message
CloudNodeConf
{
// min range to publish
optional
double
min_range
=
1
[
default
=
0.9
];
// range: 0.1 ~ 10.0
optional
double
min_range
=
1
[
default
=
0.9
];
// range: 0.1 ~ 10.0
// max range to publish
optional
double
max_range
=
2
[
default
=
130.0
];
// range: 0.1 ~ 200.0
optional
double
max_range
=
2
[
default
=
130.0
];
// range: 0.1 ~ 200.0
// angle defining the center of view
optional
double
view_direction
=
3
[
default
=
0.0
];
// range: -pi ~ pi
optional
double
view_direction
=
3
[
default
=
0.0
];
// range: -pi ~ pi
// angle defining the view width
optional
double
view_width
=
4
[
default
=
6.2831853071796
];
// range: -2*pi ~ 2*pi
optional
double
view_width
=
4
[
default
=
6.2831853071796
];
// range: -2*pi ~ 2*pi
}
modules/drivers/lidar_velodyne/proto/transform_node_conf.proto
浏览文件 @
3a4512fd
...
...
@@ -4,13 +4,14 @@ package apollo.drivers.lidar_velodyne;
message
TransformNodeConf
{
// min range to publish
optional
double
min_range
=
1
[
default
=
0.9
];
// range: 0.1 ~ 10.0
optional
double
min_range
=
1
[
default
=
0.9
];
// range: 0.1 ~ 10.0
// max range to publish
optional
double
max_range
=
2
[
default
=
130.0
];
// range: 0.1 ~ 200.0
optional
double
max_range
=
2
[
default
=
130.0
];
// range: 0.1 ~ 200.0
// angle defining the center of view
optional
double
view_direction
=
3
[
default
=
0.0
];
// range: -pi ~ pi
optional
double
view_direction
=
3
[
default
=
0.0
];
// range: -pi ~ pi
// angle defining the view width
optional
double
view_width
=
4
[
default
=
6.2831853071796
];
// range: 0 ~ 2*pi
optional
double
view_width
=
4
[
default
=
6.2831853071796
];
// range: 0 ~ 2*pi
// new frame of reference for point clouds
optional
string
frame_id
=
5
[
default
=
"odom"
];
}
modules/drivers/proto/conti_radar.proto
浏览文件 @
3a4512fd
...
...
@@ -28,19 +28,19 @@ message RadarState_201 {
}
message
ContiRadarObs
{
// x axis ^
// | longitude_dist
// |
// |
// |
// lateral_dist |
// y axis |
// <----------------
// ooooooooooooo //radar front surface
// x axis ^
// | longitude_dist
// |
// |
// |
// lateral_dist |
// y axis |
// <----------------
// ooooooooooooo //radar front surface
optional
apollo.common.Header
header
=
1
;
optional
bool
clusterortrack
=
2
;
// 0 = track, 1 = cluster
optional
int32
obstacle_id
=
3
;
// obstacle Id
optional
bool
clusterortrack
=
2
;
// 0 = track, 1 = cluster
optional
int32
obstacle_id
=
3
;
// obstacle Id
// longitude distance to the radar; (+) = forward; unit = m
required
double
longitude_dist
=
4
;
// lateral distance to the radar; (+) = left; unit = m
...
...
@@ -58,15 +58,17 @@ message ContiRadarObs {
optional
double
longitude_dist_rms
=
10
;
// lateral distance standard deviation to the radar; (+) = left; unit = m
optional
double
lateral_dist_rms
=
11
;
// longitude velocity standard deviation to the radar; (+) = forward; unit = m/s
// longitude velocity standard deviation to the radar; (+) = forward; unit =
// m/s
optional
double
longitude_vel_rms
=
12
;
//lateral velocity standard deviation to the radar; (+) = left; unit = m/s
//
lateral velocity standard deviation to the radar; (+) = left; unit = m/s
optional
double
lateral_vel_rms
=
13
;
// obstacle probability of existence
optional
double
probexist
=
14
;
//The following is only valid for the track object message
// 0 = deleted, 1 = new, 2 = measured, 3 = predicted, 4 = deleted for, 5 = new from merge
// The following is only valid for the track object message
// 0 = deleted, 1 = new, 2 = measured, 3 = predicted, 4 = deleted for, 5 = new
// from merge
optional
int32
meas_state
=
15
;
// longitude acceleration to the radar; (+) = forward; unit = m/s2
optional
double
longitude_accel
=
16
;
...
...
@@ -74,21 +76,25 @@ message ContiRadarObs {
optional
double
lateral_accel
=
17
;
// orientation angle to the radar; (+) = counterclockwise; unit = degree
optional
double
oritation_angle
=
18
;
// longitude acceleration standard deviation to the radar; (+) = forward; unit = m/s2
// longitude acceleration standard deviation to the radar; (+) = forward; unit
// = m/s2
optional
double
longitude_accel_rms
=
19
;
// lateral acceleration standard deviation to the radar; (+) = left; unit = m/s2
// lateral acceleration standard deviation to the radar; (+) = left; unit =
// m/s2
optional
double
lateral_accel_rms
=
20
;
// orientation angle standard deviation to the radar; (+) = counterclockwise; unit = degree
// orientation angle standard deviation to the radar; (+) = counterclockwise;
// unit = degree
optional
double
oritation_angle_rms
=
21
;
optional
double
length
=
22
;
// obstacle length; unit = m
optional
double
width
=
23
;
//obstacle width; unit = m
// 0: point; 1: car; 2: truck; 3: pedestrian; 4: motorcycle; 5: bicycle; 6: wide; 7: unknown
optional
double
length
=
22
;
// obstacle length; unit = m
optional
double
width
=
23
;
// obstacle width; unit = m
// 0: point; 1: car; 2: truck; 3: pedestrian; 4: motorcycle; 5: bicycle; 6:
// wide; 7: unknown
optional
int32
obstacle_class
=
24
;
}
message
ContiRadar
{
optional
apollo.common.Header
header
=
1
;
repeated
ContiRadarObs
contiobs
=
2
;
//conti radar obstacle array
repeated
ContiRadarObs
contiobs
=
2
;
//
conti radar obstacle array
optional
RadarState_201
radar_state
=
3
;
optional
ClusterListStatus_600
cluster_list_status
=
4
;
optional
ObjectListStatus_60A
object_list_status
=
5
;
...
...
modules/drivers/proto/delphi_esr.proto
浏览文件 @
3a4512fd
...
...
@@ -5,7 +5,7 @@ package apollo.drivers;
import
"modules/common/proto/header.proto"
;
message
Esr_status9_5e8
{
// Report Message
// Report Message
// [] [0|64]
optional
int32
can_tx_path_id_acc_3
=
1
;
// [] [0|64]
...
...
@@ -23,7 +23,7 @@ message Esr_status9_5e8 {
}
message
Esr_status6_5e5
{
// Report Message
// Report Message
enum
Can_tx_vertical_align_updatedType
{
CAN_TX_VERTICAL_ALIGN_UPDATED_NOT_UPDATED
=
0
;
CAN_TX_VERTICAL_ALIGN_UPDATED_UPDATED
=
1
;
...
...
@@ -91,7 +91,7 @@ message Esr_status6_5e5 {
}
message
Esr_status5_5e4
{
// Report Message
// Report Message
// [] [0|0]
optional
int32
can_tx_supply_10v_a2d
=
1
;
// [] [0|0]
...
...
@@ -111,7 +111,7 @@ message Esr_status5_5e4 {
}
message
Esr_status3_4e2
{
// Report Message
// Report Message
// [] [0|0]
optional
int32
can_tx_sw_version_pld
=
1
;
// [] [0|0]
...
...
@@ -125,7 +125,7 @@ message Esr_status3_4e2 {
}
message
Esr_status4_4e3
{
// Report Message
// Report Message
enum
Can_tx_truck_target_detType
{
CAN_TX_TRUCK_TARGET_DET_NOT_DETECTED
=
0
;
CAN_TX_TRUCK_TARGET_DET_DETECTED
=
1
;
...
...
@@ -151,7 +151,8 @@ message Esr_status4_4e3 {
// [] [0|0]
optional
Can_tx_truck_target_detType
can_tx_truck_target_det
=
1
;
// [] [0|0]
optional
Can_tx_lr_only_grating_lobe_detType
can_tx_lr_only_grating_lobe_det
=
2
;
optional
Can_tx_lr_only_grating_lobe_detType
can_tx_lr_only_grating_lobe_det
=
2
;
// [] [0|0]
optional
Can_tx_sidelobe_blockageType
can_tx_sidelobe_blockage
=
3
;
// [] [0|0]
...
...
@@ -177,7 +178,7 @@ message Esr_status4_4e3 {
}
message
Esr_trackmotionpower_540
{
// Report Message
// Report Message
// [] [0|1]
optional
bool
can_tx_track_rolling_count_2
=
1
;
optional
int32
can_tx_track_can_id_group
=
2
;
...
...
@@ -191,7 +192,7 @@ message Esr_trackmotionpower_540 {
}
message
Acm_inst_req_7e0
{
// Report Message
// Report Message
// [] [0|0]
optional
int32
command_ctr
=
1
;
// [] [0|0]
...
...
@@ -207,7 +208,7 @@ message Acm_inst_req_7e0 {
}
message
Esr_track01_500
{
// Report Message
// Report Message
enum
Can_tx_track_grouping_changedType
{
CAN_TX_TRACK_GROUPING_CHANGED_GROUPINGUNCHANGED
=
0
;
CAN_TX_TRACK_GROUPING_CHANGED_GROUPINGCHANGED
=
1
;
...
...
@@ -263,7 +264,7 @@ message Esr_track01_500 {
}
message
Esr_valid1_5d0
{
// Report Message
// Report Message
// [] [0|0]
optional
int32
can_tx_valid_lr_sn
=
1
;
// [m/s] [-128|127]
...
...
@@ -277,7 +278,7 @@ message Esr_valid1_5d0 {
}
message
Esr_valid2_5d1
{
// Report Message
// Report Message
// [] [0|0]
optional
int32
can_tx_valid_mr_sn
=
1
;
// [m/s] [-128|127]
...
...
@@ -291,7 +292,7 @@ message Esr_valid2_5d1 {
}
message
Acm_inst_resp_7e4
{
// Report Message
// Report Message
// [] [0|0]
optional
int32
data_7
=
1
;
// [] [0|0]
...
...
@@ -311,7 +312,7 @@ message Acm_inst_resp_7e4 {
}
message
Vehicle2_4f1
{
// Report Message
// Report Message
enum
Can_rx_mr_only_transmitType
{
CAN_RX_MR_ONLY_TRANSMIT_OFF
=
0
;
CAN_RX_MR_ONLY_TRANSMIT_ON
=
1
;
...
...
@@ -403,7 +404,7 @@ message Vehicle2_4f1 {
}
message
Vehicle1_4f0
{
// Report Message
// Report Message
enum
Can_rx_steering_angle_validityType
{
CAN_RX_STEERING_ANGLE_VALIDITY_INVALID
=
0
;
CAN_RX_STEERING_ANGLE_VALIDITY_VALID
=
1
;
...
...
@@ -425,13 +426,15 @@ message Vehicle1_4f0 {
CAN_RX_VEHICLE_SPEED_DIRECTION_REVERSE
=
1
;
}
// [] [0|0]
optional
Can_rx_steering_angle_validityType
can_rx_steering_angle_validity
=
1
;
optional
Can_rx_steering_angle_validityType
can_rx_steering_angle_validity
=
1
;
// [deg/s] [0|2047]
optional
int32
can_rx_steering_angle_rate
=
2
;
// [] [0|0]
optional
Can_rx_steering_angle_signType
can_rx_steering_angle_sign
=
3
;
// [] [0|0]
optional
Can_rx_steering_angle_rate_signType
can_rx_steering_angle_rate_sign
=
4
;
optional
Can_rx_steering_angle_rate_signType
can_rx_steering_angle_rate_sign
=
4
;
// [deg] [0|2047]
optional
int32
can_rx_steering_angle
=
5
;
// [m] [-8192|8191]
...
...
@@ -441,13 +444,14 @@ message Vehicle1_4f0 {
// [deg/s] [-128|127.9375]
optional
double
can_rx_yaw_rate
=
8
;
// [] [0|0]
optional
Can_rx_vehicle_speed_directionType
can_rx_vehicle_speed_direction
=
9
;
optional
Can_rx_vehicle_speed_directionType
can_rx_vehicle_speed_direction
=
9
;
// [m/s] [0|127.9375]
optional
double
can_rx_vehicle_speed
=
10
;
}
message
Esr_sim1_5c0
{
// Report Message
// Report Message
enum
Can_rx_sim_track_idType
{
CAN_RX_SIM_TRACK_ID_NO_TARGET
=
0
;
CAN_RX_SIM_TRACK_ID_TARGET_1
=
1
;
...
...
@@ -490,7 +494,7 @@ message Esr_sim1_5c0 {
}
message
Esr_status1_4e0
{
// Report Message
// Report Message
// [ms] [0|254]
optional
double
can_tx_dsp_timestamp
=
1
;
// [] [0|0]
...
...
@@ -508,7 +512,7 @@ message Esr_status1_4e0 {
}
message
Esr_status2_4e1
{
// Report Message
// Report Message
enum
Can_tx_raw_data_modeType
{
CAN_TX_RAW_DATA_MODE_FILTERED
=
0
;
CAN_TX_RAW_DATA_MODE_RAW
=
1
;
...
...
@@ -564,7 +568,7 @@ message Esr_status2_4e1 {
}
message
Esr_status8_5e7
{
// Report Message
// Report Message
// [] [0|0]
optional
int32
can_tx_history_fault_7
=
1
;
// [] [0|0]
...
...
@@ -584,7 +588,7 @@ message Esr_status8_5e7 {
}
message
Esr_status7_5e6
{
// Report Message
// Report Message
// [] [0|0]
optional
int32
can_tx_active_fault_7
=
1
;
// [] [0|0]
...
...
@@ -604,7 +608,7 @@ message Esr_status7_5e6 {
}
message
Vehicle3_5f2
{
// Report Message
// Report Message
enum
Can_rx_serv_align_typeType
{
CAN_RX_SERV_ALIGN_TYPE_AUTO_OR_DEALER
=
0
;
CAN_RX_SERV_ALIGN_TYPE_VOLVO_SHORT_TRACK
=
1
;
...
...
@@ -668,7 +672,7 @@ message Vehicle3_5f2 {
}
message
Vehicle4_5f3
{
// Report Message
// Report Message
enum
Can_rx_fac_align_cmd_2Type
{
CAN_RX_FAC_ALIGN_CMD_2_OFF
=
0
;
CAN_RX_FAC_ALIGN_CMD_2_ON
=
1
;
...
...
@@ -700,7 +704,7 @@ message Vehicle4_5f3 {
}
message
Vehicle5_5f4
{
// Report Message
// Report Message
enum
Can_rx_yaw_rate_bias_shiftType
{
CAN_RX_YAW_RATE_BIAS_SHIFT_NO_DETECT
=
0
;
CAN_RX_YAW_RATE_BIAS_SHIFT_DETECT
=
1
;
...
...
@@ -726,7 +730,7 @@ message Vehicle5_5f4 {
}
message
Vehicle6_5f5
{
// Report Message
// Report Message
// [m] [-2|10]
optional
double
can_rx_inner_funnel_offset_right
=
1
;
// [m] [-2|10]
...
...
@@ -741,26 +745,27 @@ message Vehicle6_5f5 {
message
DelphiESR
{
optional
apollo.common.Header
header
=
1
;
optional
Esr_status9_5e8
esr_status9_5e8
=
2
;
// report message
optional
Esr_status6_5e5
esr_status6_5e5
=
3
;
// report message
optional
Esr_status5_5e4
esr_status5_5e4
=
4
;
// report message
optional
Esr_status3_4e2
esr_status3_4e2
=
5
;
// report message
optional
Esr_status4_4e3
esr_status4_4e3
=
6
;
// report message
repeated
Esr_trackmotionpower_540
esr_trackmotionpower_540
=
7
;
// report message
optional
Acm_inst_req_7e0
acm_inst_req_7e0
=
8
;
// report message
repeated
Esr_track01_500
esr_track01_500
=
9
;
// report message
optional
Esr_valid1_5d0
esr_valid1_5d0
=
10
;
// report message
optional
Esr_valid2_5d1
esr_valid2_5d1
=
11
;
// report message
optional
Acm_inst_resp_7e4
acm_inst_resp_7e4
=
12
;
// report message
optional
Vehicle2_4f1
vehicle2_4f1
=
13
;
// report message
optional
Vehicle1_4f0
vehicle1_4f0
=
14
;
// report message
optional
Esr_sim1_5c0
esr_sim1_5c0
=
15
;
// report message
optional
Esr_status1_4e0
esr_status1_4e0
=
16
;
// report message
optional
Esr_status2_4e1
esr_status2_4e1
=
17
;
// report message
optional
Esr_status8_5e7
esr_status8_5e7
=
18
;
// report message
optional
Esr_status7_5e6
esr_status7_5e6
=
19
;
// report message
optional
Vehicle3_5f2
vehicle3_5f2
=
20
;
// report message
optional
Vehicle4_5f3
vehicle4_5f3
=
21
;
// report message
optional
Vehicle5_5f4
vehicle5_5f4
=
22
;
// report message
optional
Vehicle6_5f5
vehicle6_5f5
=
23
;
// report message
optional
Esr_status9_5e8
esr_status9_5e8
=
2
;
// report message
optional
Esr_status6_5e5
esr_status6_5e5
=
3
;
// report message
optional
Esr_status5_5e4
esr_status5_5e4
=
4
;
// report message
optional
Esr_status3_4e2
esr_status3_4e2
=
5
;
// report message
optional
Esr_status4_4e3
esr_status4_4e3
=
6
;
// report message
repeated
Esr_trackmotionpower_540
esr_trackmotionpower_540
=
7
;
// report message
optional
Acm_inst_req_7e0
acm_inst_req_7e0
=
8
;
// report message
repeated
Esr_track01_500
esr_track01_500
=
9
;
// report message
optional
Esr_valid1_5d0
esr_valid1_5d0
=
10
;
// report message
optional
Esr_valid2_5d1
esr_valid2_5d1
=
11
;
// report message
optional
Acm_inst_resp_7e4
acm_inst_resp_7e4
=
12
;
// report message
optional
Vehicle2_4f1
vehicle2_4f1
=
13
;
// report message
optional
Vehicle1_4f0
vehicle1_4f0
=
14
;
// report message
optional
Esr_sim1_5c0
esr_sim1_5c0
=
15
;
// report message
optional
Esr_status1_4e0
esr_status1_4e0
=
16
;
// report message
optional
Esr_status2_4e1
esr_status2_4e1
=
17
;
// report message
optional
Esr_status8_5e7
esr_status8_5e7
=
18
;
// report message
optional
Esr_status7_5e6
esr_status7_5e6
=
19
;
// report message
optional
Vehicle3_5f2
vehicle3_5f2
=
20
;
// report message
optional
Vehicle4_5f3
vehicle4_5f3
=
21
;
// report message
optional
Vehicle5_5f4
vehicle5_5f4
=
22
;
// report message
optional
Vehicle6_5f5
vehicle6_5f5
=
23
;
// report message
}
modules/drivers/proto/mobileye.proto
浏览文件 @
3a4512fd
...
...
@@ -5,141 +5,141 @@ package apollo.drivers;
import
"modules/common/proto/header.proto"
;
message
Lka_768
{
optional
int32
lane_type
=
1
;
optional
int32
quality
=
2
;
optional
int32
model_degree
=
3
;
optional
double
position
=
4
;
optional
double
curvature
=
5
;
optional
double
curvature_derivative
=
6
;
optional
double
width_right_marking
=
7
;
optional
int32
lane_type
=
1
;
optional
int32
quality
=
2
;
optional
int32
model_degree
=
3
;
optional
double
position
=
4
;
optional
double
curvature
=
5
;
optional
double
curvature_derivative
=
6
;
optional
double
width_right_marking
=
7
;
}
message
Num_76b
{
optional
int32
num_of_next_lane_mark_reported
=
1
;
optional
int32
num_of_next_lane_mark_reported
=
1
;
}
message
Aftermarket_669
{
optional
int32
lane_conf_left
=
1
;
optional
bool
ldw_availability_left
=
2
;
optional
int32
lane_type_left
=
3
;
optional
double
distance_to_lane_l
=
4
;
optional
int32
lane_conf_right
=
5
;
optional
bool
ldw_availability_right
=
6
;
optional
int32
lane_type_right
=
7
;
optional
double
distance_to_lane_r
=
8
;
optional
int32
lane_conf_left
=
1
;
optional
bool
ldw_availability_left
=
2
;
optional
int32
lane_type_left
=
3
;
optional
double
distance_to_lane_l
=
4
;
optional
int32
lane_conf_right
=
5
;
optional
bool
ldw_availability_right
=
6
;
optional
int32
lane_type_right
=
7
;
optional
double
distance_to_lane_r
=
8
;
}
message
Lka_769
{
optional
double
heading_angle
=
1
;
optional
double
view_range
=
2
;
optional
bool
view_range_availability
=
3
;
optional
double
heading_angle
=
1
;
optional
double
view_range
=
2
;
optional
bool
view_range_availability
=
3
;
}
message
Reference_76a
{
optional
double
ref_point_1_position
=
1
;
optional
double
ref_point_1_distance
=
2
;
optional
bool
ref_point_1_validity
=
3
;
optional
double
ref_point_2_position
=
4
;
optional
double
ref_point_2_distance
=
5
;
optional
bool
ref_point_2_validity
=
6
;
optional
double
ref_point_1_position
=
1
;
optional
double
ref_point_1_distance
=
2
;
optional
bool
ref_point_1_validity
=
3
;
optional
double
ref_point_2_position
=
4
;
optional
double
ref_point_2_distance
=
5
;
optional
bool
ref_point_2_validity
=
6
;
}
message
Details_738
{
optional
int32
num_obstacles
=
1
;
optional
int32
timestamp
=
2
;
optional
int32
application_version
=
3
;
optional
int32
active_version_number_section
=
4
;
optional
bool
left_close_rang_cut_in
=
5
;
optional
bool
right_close_rang_cut_in
=
6
;
optional
int32
go
=
7
;
optional
int32
protocol_version
=
8
;
optional
bool
close_car
=
9
;
optional
int32
failsafe
=
10
;
optional
int32
reserved_10
=
11
;
optional
int32
num_obstacles
=
1
;
optional
int32
timestamp
=
2
;
optional
int32
application_version
=
3
;
optional
int32
active_version_number_section
=
4
;
optional
bool
left_close_rang_cut_in
=
5
;
optional
bool
right_close_rang_cut_in
=
6
;
optional
int32
go
=
7
;
optional
int32
protocol_version
=
8
;
optional
bool
close_car
=
9
;
optional
int32
failsafe
=
10
;
optional
int32
reserved_10
=
11
;
}
message
Next_76c
{
optional
int32
lane_type
=
1
;
optional
int32
quality
=
2
;
optional
int32
model_degree
=
3
;
optional
double
position
=
4
;
optional
double
curvature
=
5
;
optional
double
curvature_derivative
=
6
;
optional
double
lane_mark_width
=
7
;
optional
int32
lane_type
=
1
;
optional
int32
quality
=
2
;
optional
int32
model_degree
=
3
;
optional
double
position
=
4
;
optional
double
curvature
=
5
;
optional
double
curvature_derivative
=
6
;
optional
double
lane_mark_width
=
7
;
}
message
Details_737
{
optional
double
lane_curvature
=
1
;
optional
double
lane_heading
=
2
;
optional
bool
ca_construction_area
=
3
;
optional
bool
right_ldw_availability
=
4
;
optional
bool
left_ldw_availability
=
5
;
optional
bool
reserved_1
=
6
;
optional
double
yaw_angle
=
7
;
optional
double
pitch_angle
=
8
;
optional
double
lane_curvature
=
1
;
optional
double
lane_heading
=
2
;
optional
bool
ca_construction_area
=
3
;
optional
bool
right_ldw_availability
=
4
;
optional
bool
left_ldw_availability
=
5
;
optional
bool
reserved_1
=
6
;
optional
double
yaw_angle
=
7
;
optional
double
pitch_angle
=
8
;
}
message
Lka_767
{
optional
double
heading_angle
=
1
;
optional
double
view_range
=
2
;
optional
bool
view_range_availability
=
3
;
optional
double
heading_angle
=
1
;
optional
double
view_range
=
2
;
optional
bool
view_range_availability
=
3
;
}
message
Lka_766
{
optional
int32
lane_type
=
1
;
optional
int32
quality
=
2
;
optional
int32
model_degree
=
3
;
optional
double
position
=
4
;
optional
double
curvature
=
5
;
optional
double
curvature_derivative
=
6
;
optional
double
width_left_marking
=
7
;
optional
int32
lane_type
=
1
;
optional
int32
quality
=
2
;
optional
int32
model_degree
=
3
;
optional
double
position
=
4
;
optional
double
curvature
=
5
;
optional
double
curvature_derivative
=
6
;
optional
double
width_left_marking
=
7
;
}
message
Next_76d
{
optional
double
heading_angle
=
1
;
optional
double
view_range
=
2
;
optional
bool
view_range_availability
=
3
;
optional
double
heading_angle
=
1
;
optional
double
view_range
=
2
;
optional
bool
view_range_availability
=
3
;
}
message
Details_739
{
optional
int32
obstacle_id
=
1
;
optional
double
obstacle_pos_x
=
2
;
optional
int32
reseved_2
=
3
;
optional
double
obstacle_pos_y
=
4
;
optional
int32
blinker_info
=
5
;
optional
int32
cut_in_and_out
=
6
;
optional
double
obstacle_rel_vel_x
=
7
;
optional
int32
obstacle_type
=
8
;
optional
bool
reserved_3
=
9
;
optional
int32
obstacle_status
=
10
;
optional
bool
obstacle_brake_lights
=
11
;
optional
int32
reserved_4
=
12
;
optional
int32
obstacle_valid
=
13
;
optional
int32
obstacle_id
=
1
;
optional
double
obstacle_pos_x
=
2
;
optional
int32
reseved_2
=
3
;
optional
double
obstacle_pos_y
=
4
;
optional
int32
blinker_info
=
5
;
optional
int32
cut_in_and_out
=
6
;
optional
double
obstacle_rel_vel_x
=
7
;
optional
int32
obstacle_type
=
8
;
optional
bool
reserved_3
=
9
;
optional
int32
obstacle_status
=
10
;
optional
bool
obstacle_brake_lights
=
11
;
optional
int32
reserved_4
=
12
;
optional
int32
obstacle_valid
=
13
;
}
message
Details_73a
{
optional
double
obstacle_length
=
1
;
optional
double
obstacle_width
=
2
;
optional
int32
obstacle_age
=
3
;
optional
int32
obstacle_lane
=
4
;
optional
bool
cipv_flag
=
5
;
optional
bool
reserved_5
=
6
;
optional
double
radar_pos_x
=
7
;
optional
double
radar_vel_x
=
8
;
optional
int32
radar_match_confidence
=
9
;
optional
bool
reserved_6
=
10
;
optional
int32
matched_radar_id
=
11
;
optional
bool
reserved_7
=
12
;
optional
double
obstacle_length
=
1
;
optional
double
obstacle_width
=
2
;
optional
int32
obstacle_age
=
3
;
optional
int32
obstacle_lane
=
4
;
optional
bool
cipv_flag
=
5
;
optional
bool
reserved_5
=
6
;
optional
double
radar_pos_x
=
7
;
optional
double
radar_vel_x
=
8
;
optional
int32
radar_match_confidence
=
9
;
optional
bool
reserved_6
=
10
;
optional
int32
matched_radar_id
=
11
;
optional
bool
reserved_7
=
12
;
}
message
Details_73b
{
optional
double
obstacle_angle_rate
=
1
;
optional
double
obstacle_scale_change
=
2
;
optional
double
object_accel_x
=
3
;
optional
int32
reserved_8
=
4
;
optional
bool
obstacle_replaced
=
5
;
optional
int32
reserved_9
=
6
;
optional
double
obstacle_angle
=
7
;
optional
double
obstacle_angle_rate
=
1
;
optional
double
obstacle_scale_change
=
2
;
optional
double
object_accel_x
=
3
;
optional
int32
reserved_8
=
4
;
optional
bool
obstacle_replaced
=
5
;
optional
int32
reserved_9
=
6
;
optional
double
obstacle_angle
=
7
;
}
message
Mobileye
{
...
...
modules/drivers/proto/racobit_radar.proto
浏览文件 @
3a4512fd
...
...
@@ -28,19 +28,19 @@ message RacobitRadarState_201 {
}
message
RacobitRadarObs
{
// x axis ^
// | longitude_dist
// |
// |
// |
// lateral_dist |
// y axis |
// <----------------
// ooooooooooooo //radar front surface
// x axis ^
// | longitude_dist
// |
// |
// |
// lateral_dist |
// y axis |
// <----------------
// ooooooooooooo //radar front surface
optional
apollo.common.Header
header
=
1
;
optional
bool
clusterortrack
=
2
;
// 0 = track, 1 = cluster
optional
int32
obstacle_id
=
3
;
// obstacle Id
optional
bool
clusterortrack
=
2
;
// 0 = track, 1 = cluster
optional
int32
obstacle_id
=
3
;
// obstacle Id
// longitude distance to the radar; (+) = forward; unit = m
required
double
longitude_dist
=
4
;
// lateral distance to the radar; (+) = left; unit = m
...
...
@@ -58,15 +58,17 @@ message RacobitRadarObs {
optional
double
longitude_dist_rms
=
10
;
// lateral distance standard deviationto the radar; (+) = left; unit = m
optional
double
lateral_dist_rms
=
11
;
// longitude velocity standard deviation to the radar; (+) = farword; unit = m/s
// longitude velocity standard deviation to the radar; (+) = farword; unit =
// m/s
optional
double
longitude_vel_rms
=
12
;
//lateral velocity standard deviation to the radar; (+) = left; unit = m/s
//
lateral velocity standard deviation to the radar; (+) = left; unit = m/s
optional
double
lateral_vel_rms
=
13
;
// obstacle probablity of existence
optional
double
probexist
=
14
;
//The following is only valid for the track object message
// 0 = deleted, 1 = new, 2 = measured, 3 = predicted, 4 = deleted for, 5 = new from merge
// The following is only valid for the track object message
// 0 = deleted, 1 = new, 2 = measured, 3 = predicted, 4 = deleted for, 5 = new
// from merge
optional
int32
meas_state
=
15
;
// longitude acceleration to the radar; (+) = farword; unit = m/s2
optional
double
longitude_accel
=
16
;
...
...
@@ -74,21 +76,25 @@ message RacobitRadarObs {
optional
double
lateral_accel
=
17
;
// oritation angle to the radar; (+) = conterclockwise; unit = degree
optional
double
oritation_angle
=
18
;
// longitude acceleration standard deviation to the radar; (+) = farword; unit = m/s2
// longitude acceleration standard deviation to the radar; (+) = farword; unit
// = m/s2
optional
double
longitude_accel_rms
=
19
;
// lateral acclearation standard deviation to the radar; (+) = left; unit = m/s2
// lateral acclearation standard deviation to the radar; (+) = left; unit =
// m/s2
optional
double
lateral_accel_rms
=
20
;
// oritation angle standard deviation to the radar; (+) = conterclockwise; unit = degree
// oritation angle standard deviation to the radar; (+) = conterclockwise;
// unit = degree
optional
double
oritation_angle_rms
=
21
;
optional
double
length
=
22
;
// obstacle length; unit = m
optional
double
width
=
23
;
//obstacle width; unit = m
// 0: point; 1: car; 2: truck; 3: pedestrian; 4: motocycle; 5: bicycle; 6: wide; 7: unknown
optional
double
length
=
22
;
// obstacle length; unit = m
optional
double
width
=
23
;
// obstacle width; unit = m
// 0: point; 1: car; 2: truck; 3: pedestrian; 4: motocycle; 5: bicycle; 6:
// wide; 7: unknown
optional
int32
obstacle_class
=
24
;
}
message
RacobitRadar
{
optional
apollo.common.Header
header
=
1
;
repeated
RacobitRadarObs
contiobs
=
2
;
//conti radar obstacle array
repeated
RacobitRadarObs
contiobs
=
2
;
//
conti radar obstacle array
optional
RacobitRadarState_201
radar_state
=
3
;
optional
RacobitClusterListStatus_600
cluster_list_status
=
4
;
optional
RacobitObjectListStatus_60A
object_list_status
=
5
;
...
...
modules/drivers/proto/radar.proto
浏览文件 @
3a4512fd
...
...
@@ -7,36 +7,40 @@ import "modules/common/proto/header.proto";
import
"modules/common/proto/geometry.proto"
;
message
RadarObstacle
{
enum
Status
{
NO_TARGET
=
0
;
NEW_TARGET
=
1
;
NEW_UPDATED_TARGET
=
2
;
UPDATED_TARGET
=
3
;
COASTED_TARGET
=
4
;
MERGED_TARGET
=
5
;
INVALID_COASTED_TARGET
=
6
;
NEW_COASTED_TARGET
=
7
;
}
enum
Status
{
NO_TARGET
=
0
;
NEW_TARGET
=
1
;
NEW_UPDATED_TARGET
=
2
;
UPDATED_TARGET
=
3
;
COASTED_TARGET
=
4
;
MERGED_TARGET
=
5
;
INVALID_COASTED_TARGET
=
6
;
NEW_COASTED_TARGET
=
7
;
}
enum
MovingStatus
{
STATIONARY
=
0
;
NEARING
=
1
;
AWAYING
=
2
;
NONE
=
3
;
}
enum
MovingStatus
{
STATIONARY
=
0
;
NEARING
=
1
;
AWAYING
=
2
;
NONE
=
3
;
}
optional
int32
id
=
1
;
// obstacle ID.
optional
apollo.common.Point2D
relative_position
=
2
;
// obstacle position in the sl coordinate system.
optional
apollo.common.Point2D
relative_velocity
=
3
;
// obstacle relative velocity.
optional
apollo.common.Point2D
relative_position
=
2
;
// obstacle position in the sl coordinate system.
optional
apollo.common.Point2D
relative_velocity
=
3
;
// obstacle relative velocity.
optional
double
rcs
=
4
;
// radar signal intensity.
optional
MovingStatus
moving_status
=
5
;
// whether this obstacle is able to move.
optional
MovingStatus
moving_status
=
5
;
// whether this obstacle is able to move.
optional
double
width
=
6
;
optional
double
length
=
7
;
optional
double
height
=
8
;
optional
double
theta
=
9
;
optional
apollo.common.Point2D
absolute_position
=
10
;
// obstacle position in map coordinate system
optional
apollo.common.Point2D
absolute_velocity
=
11
;
// obstacle position in map coordinate system
optional
apollo.common.Point2D
absolute_position
=
10
;
// obstacle position in map coordinate system
optional
apollo.common.Point2D
absolute_velocity
=
11
;
// obstacle position in map coordinate system
optional
int32
count
=
12
;
optional
int32
moving_frames_count
=
13
;
optional
Status
status
=
14
;
...
...
@@ -44,6 +48,6 @@ enum Status {
message
RadarObstacles
{
map
<
int32
,
RadarObstacle
>
radar_obstacle
=
1
;
// An array of obstacles
optional
apollo.common.Header
header
=
2
;
// Header
optional
apollo.common.Header
header
=
2
;
// Header
optional
apollo.common.ErrorCode
error_code
=
3
[
default
=
OK
];
}
modules/drivers/proto/sensor_image.proto
浏览文件 @
3a4512fd
...
...
@@ -6,56 +6,56 @@ import "modules/common/proto/header.proto";
// Encoding of pixels -- channel meaning, ordering, size
enum
PixelFormat
{
RGB8
=
1001
;
RGBA8
=
1002
;
RGB16
=
1003
;
RGBA16
=
1004
;
BGR8
=
1005
;
BGRA8
=
1006
;
BGR16
=
1007
;
BGRA16
=
1008
;
MONO8
=
1009
;
MONO16
=
1010
;
RGB8
=
1001
;
RGBA8
=
1002
;
RGB16
=
1003
;
RGBA16
=
1004
;
BGR8
=
1005
;
BGRA8
=
1006
;
BGR16
=
1007
;
BGRA16
=
1008
;
MONO8
=
1009
;
MONO16
=
1010
;
// OpenCV CvMat types
TYPE_8UC1
=
2001
;
TYPE_8UC2
=
2002
;
TYPE_8UC3
=
2003
;
TYPE_8UC4
=
2004
;
TYPE_8SC1
=
2005
;
TYPE_8SC2
=
2006
;
TYPE_8SC3
=
2007
;
TYPE_8SC4
=
2008
;
TYPE_16UC1
=
2009
;
TYPE_16UC2
=
2010
;
TYPE_16UC3
=
2011
;
TYPE_16UC4
=
2012
;
TYPE_16SC1
=
2013
;
TYPE_16SC2
=
2014
;
TYPE_16SC3
=
2015
;
TYPE_16SC4
=
2016
;
TYPE_32SC1
=
2017
;
TYPE_32SC2
=
2018
;
TYPE_32SC3
=
2019
;
TYPE_32SC4
=
2020
;
TYPE_32FC1
=
2021
;
TYPE_32FC2
=
2022
;
TYPE_32FC3
=
2023
;
TYPE_32FC4
=
2024
;
TYPE_64FC1
=
2025
;
TYPE_64FC2
=
2026
;
TYPE_64FC3
=
2027
;
TYPE_64FC4
=
2028
;
TYPE_8UC1
=
2001
;
TYPE_8UC2
=
2002
;
TYPE_8UC3
=
2003
;
TYPE_8UC4
=
2004
;
TYPE_8SC1
=
2005
;
TYPE_8SC2
=
2006
;
TYPE_8SC3
=
2007
;
TYPE_8SC4
=
2008
;
TYPE_16UC1
=
2009
;
TYPE_16UC2
=
2010
;
TYPE_16UC3
=
2011
;
TYPE_16UC4
=
2012
;
TYPE_16SC1
=
2013
;
TYPE_16SC2
=
2014
;
TYPE_16SC3
=
2015
;
TYPE_16SC4
=
2016
;
TYPE_32SC1
=
2017
;
TYPE_32SC2
=
2018
;
TYPE_32SC3
=
2019
;
TYPE_32SC4
=
2020
;
TYPE_32FC1
=
2021
;
TYPE_32FC2
=
2022
;
TYPE_32FC3
=
2023
;
TYPE_32FC4
=
2024
;
TYPE_64FC1
=
2025
;
TYPE_64FC2
=
2026
;
TYPE_64FC3
=
2027
;
TYPE_64FC4
=
2028
;
// Bayer encodings
BAYER_RGGB8
=
3001
;
BAYER_BGGR8
=
3002
;
BAYER_GBRG8
=
3003
;
BAYER_GRBG8
=
3004
;
BAYER_RGGB16
=
3005
;
BAYER_BGGR16
=
3006
;
BAYER_GBRG16
=
3007
;
BAYER_GRBG16
=
3008
;
BAYER_RGGB8
=
3001
;
BAYER_BGGR8
=
3002
;
BAYER_GBRG8
=
3003
;
BAYER_GRBG8
=
3004
;
BAYER_RGGB16
=
3005
;
BAYER_BGGR16
=
3006
;
BAYER_GBRG16
=
3007
;
BAYER_GRBG16
=
3008
;
// Miscellaneous
// This is the UYVY version of YUV422 codec http://www.fourcc.org/yuv.php#UYVY
...
...
@@ -68,12 +68,12 @@ message Image {
optional
string
frame_id
=
2
;
required
double
measurement_time
=
3
;
optional
uint32
height
=
4
;
// image height, that is, number of rows
optional
uint32
width
=
5
;
// image width, that is, number of columns
optional
uint32
height
=
4
;
// image height, that is, number of rows
optional
uint32
width
=
5
;
// image width, that is, number of columns
optional
string
encoding
=
6
;
optional
uint32
step
=
7
;
// Full row length in bytes
optional
bytes
data
=
8
;
// actual matrix data, size is (step * rows)
optional
uint32
step
=
7
;
// Full row length in bytes
optional
bytes
data
=
8
;
// actual matrix data, size is (step * rows)
}
message
CompressedImage
{
...
...
@@ -83,5 +83,5 @@ message CompressedImage {
// Specifies the format of the data
// Acceptable values: jpeg, png
optional
string
format
=
3
;
optional
bytes
data
=
4
;
// Compressed image buffer
optional
bytes
data
=
4
;
// Compressed image buffer
}
\ No newline at end of file
modules/drivers/proto/ultrasonic_radar.proto
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3a4512fd
...
...
@@ -4,26 +4,25 @@ package apollo.drivers;
import
"modules/common/proto/header.proto"
;
message
Ultrasonic
{
//
// x axis
// ^
// |
// * | *
// * | *
// \ * | * /
// \ * range(i) * /
// \ | /
// \ | /
// \ | /
// y axis \ | /
// <---------------
// ooooooooooooo //ultrasonic radar front surface
//
// In every working cycle, each radar of the ultrasonic system
// return a range to form a range array, 'ranges'.
message
Ultrasonic
{
//
// x axis
// ^
// |
// * | *
// * | *
// \ * | * /
// \ * range(i) * /
// \ | /
// \ | /
// \ | /
// y axis \ | /
// <---------------
// ooooooooooooo //ultrasonic radar front surface
//
// In every working cycle, each radar of the ultrasonic system
// return a range to form a range array, 'ranges'.
optional
apollo.common.Header
header
=
1
;
repeated
float
ranges
=
2
;
}
modules/drivers/usb_cam/proto/config.proto
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3a4512fd
...
...
@@ -3,43 +3,42 @@ syntax = "proto2";
package
apollo
.
drivers.usb_cam.config
;
enum
IOMethod
{
IO_METHOD_UNKNOWN
=
0
;
IO_METHOD_READ
=
1
;
IO_METHOD_MMAP
=
2
;
IO_METHOD_USERPTR
=
3
;
IO_METHOD_UNKNOWN
=
0
;
IO_METHOD_READ
=
1
;
IO_METHOD_MMAP
=
2
;
IO_METHOD_USERPTR
=
3
;
}
message
Config
{
required
string
camera_dev
=
1
;
required
string
frame_id
=
2
;
//v4l pixel format
required
string
pixel_format
=
3
[
default
=
"yuyv"
];
//mmap, userptr, read
//
v4l pixel format
required
string
pixel_format
=
3
[
default
=
"yuyv"
];
//
mmap, userptr, read
required
IOMethod
io_method
=
4
;
required
uint32
width
=
5
;
required
uint32
height
=
6
;
required
uint32
frame_rate
=
7
;
required
bool
monochrome
=
8
[
default
=
false
];
required
bool
monochrome
=
8
[
default
=
false
];
required
int32
brightness
=
9
[
default
=
-
1
];
required
int32
contrast
=
10
[
default
=
-
1
];
required
int32
saturation
=
11
[
default
=
-
1
];
required
int32
sharpness
=
12
[
default
=
-
1
];
required
int32
gain
=
13
[
default
=
-
1
];
required
int32
brightness
=
9
[
default
=
-
1
];
required
int32
contrast
=
10
[
default
=
-
1
];
required
int32
saturation
=
11
[
default
=
-
1
];
required
int32
sharpness
=
12
[
default
=
-
1
];
required
int32
gain
=
13
[
default
=
-
1
];
required
bool
auto_focus
=
14
[
default
=
false
];
required
int32
focus
=
15
[
default
=
-
1
];
required
bool
auto_exposure
=
16
[
default
=
true
];
required
int32
exposure
=
17
[
default
=
100
];
required
bool
auto_white_balance
=
18
[
default
=
true
];
required
int32
white_balance
=
19
[
default
=
4000
];
required
uint32
bytes_per_pixel
=
20
[
default
=
3
];
required
uint32
trigger_internal
=
21
[
default
=
0
];
required
uint32
trigger_fps
=
22
[
default
=
30
];
optional
string
channel_name
=
23
[
default
=
""
];
required
bool
auto_focus
=
14
[
default
=
false
];
required
int32
focus
=
15
[
default
=
-
1
];
required
bool
auto_exposure
=
16
[
default
=
true
];
required
int32
exposure
=
17
[
default
=
100
];
required
bool
auto_white_balance
=
18
[
default
=
true
];
required
int32
white_balance
=
19
[
default
=
4000
];
required
uint32
bytes_per_pixel
=
20
[
default
=
3
];
required
uint32
trigger_internal
=
21
[
default
=
0
];
required
uint32
trigger_fps
=
22
[
default
=
30
];
optional
string
channel_name
=
23
[
default
=
""
];
// wait time when camera select timeout
optional
float
device_wait
=
24
[
default
=
2.0
];
// camera select spin time
optional
float
spin_rate
=
25
[
default
=
0.005
];
optional
float
device_wait
=
24
[
default
=
2.0
];
// camera select spin time
optional
float
spin_rate
=
25
[
default
=
0.005
];
}
modules/drivers/velodyne/proto/velodyne.proto
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...
...
@@ -5,20 +5,20 @@ package apollo.drivers.velodyne;
import
"modules/common/proto/header.proto"
;
enum
Model
{
UNKOWN
=
0
;
HDL64E_S3S
=
1
;
HDL64E_S3D
=
2
;
HDL64E_S2
=
3
;
HDL32E
=
4
;
VLP16
=
5
;
VLP32C
=
6
;
VLS128
=
7
;
UNKOWN
=
0
;
HDL64E_S3S
=
1
;
HDL64E_S3D
=
2
;
HDL64E_S2
=
3
;
HDL32E
=
4
;
VLP16
=
5
;
VLP32C
=
6
;
VLS128
=
7
;
}
enum
Mode
{
STRONGEST
=
1
;
LAST
=
2
;
DUAL
=
3
;
STRONGEST
=
1
;
LAST
=
2
;
DUAL
=
3
;
}
message
VelodynePacket
{
...
...
@@ -28,14 +28,14 @@ message VelodynePacket {
message
VelodyneScan
{
optional
apollo.common.Header
header
=
1
;
required
Model
model
=
2
;
// velodyne device model
required
Mode
mode
=
3
;
// velodyne work mode
required
Model
model
=
2
;
// velodyne device model
required
Mode
mode
=
3
;
// velodyne work mode
repeated
VelodynePacket
firing_pkts
=
4
;
//for HDL32 and VLP16
//
for HDL32 and VLP16
repeated
VelodynePacket
positioning_pkts
=
5
;
// velodyne device serial number, corresponds to a specific calibration file
// velodyne device serial number, corresponds to a specific calibration file
optional
string
sn
=
6
;
required
uint64
basetime
=
7
[
default
=
0
];
}
modules/example/component_driver/proto/driver_conf.proto
浏览文件 @
3a4512fd
...
...
@@ -3,6 +3,6 @@ syntax = "proto2";
package
apollo
.
modules.example.component_driver.proto
;
message
DriverConf
{
optional
string
channel1
=
1
;
optional
string
channel2
=
2
;
optional
string
channel1
=
1
;
optional
string
channel2
=
2
;
}
\ No newline at end of file
modules/guardian/proto/guardian_conf.proto
浏览文件 @
3a4512fd
...
...
@@ -3,11 +3,11 @@ syntax = "proto2";
package
apollo
.
guardian
;
message
GuardianConf
{
optional
string
chassis_channel
=
1
;
optional
string
system_status_channel
=
2
;
optional
string
control_command_channel
=
3
;
optional
string
guardian_channel
=
4
;
optional
bool
guardian_enable
=
5
[
default
=
false
];
optional
double
guardian_cmd_emergency_stop_percentage
=
6
[
default
=
50
];
optional
double
guardian_cmd_soft_stop_percentage
=
7
[
default
=
25
];
optional
string
chassis_channel
=
1
;
optional
string
system_status_channel
=
2
;
optional
string
control_command_channel
=
3
;
optional
string
guardian_channel
=
4
;
optional
bool
guardian_enable
=
5
[
default
=
false
];
optional
double
guardian_cmd_emergency_stop_percentage
=
6
[
default
=
50
];
optional
double
guardian_cmd_soft_stop_percentage
=
7
[
default
=
25
];
}
\ No newline at end of file
modules/localization/proto/gnss_pnt_result.proto
浏览文件 @
3a4512fd
...
...
@@ -4,7 +4,7 @@ package apollo.localization;
import
"modules/drivers/gnss/proto/gnss_raw_observation.proto"
;
//Define a rover' direction cosine to an observed satellite under WGS-84
//
Define a rover' direction cosine to an observed satellite under WGS-84
message
SatDirCosine
{
optional
uint32
sat_prn
=
1
;
optional
uint32
sat_sys
=
2
;
...
...
@@ -20,37 +20,40 @@ enum PntType {
PNT_RTK_FLOAT
=
4
;
PNT_RTK_FIXED
=
5
;
}
//
Define the position result of a rover,
//and pnt stands for Positioning, Navigating and Timing
//
Define the position result of a rover,
//
and pnt stands for Positioning, Navigating and Timing
message
GnssPntResult
{
optional
uint32
receiver_id
=
1
;
optional
apollo.drivers.gnss.GnssTimeType
time_type
=
2
[
default
=
GPS_TIME
];
optional
uint32
gnss_week
=
3
;
optional
double
gnss_second_s
=
4
;
//Solution type
optional
PntType
pnt_type
=
5
[
default
=
PNT_INVALID
];;
//Position and its standard deviation in Cartesian (X/Y/Z) under ECEF-WGS84 coordinate
// Solution type
optional
PntType
pnt_type
=
5
[
default
=
PNT_INVALID
];
;
// Position and its standard deviation in Cartesian (X/Y/Z) under ECEF-WGS84
// coordinate
optional
double
pos_x_m
=
6
;
optional
double
pos_y_m
=
7
;
optional
double
pos_z_m
=
8
;
optional
double
std_pos_x_m
=
9
;
optional
double
std_pos_y_m
=
10
;
optional
double
std_pos_z_m
=
11
;
//Velocity and its standard deviation in Cartesian (X/Y/Z) under ECEF-WGS84 coordinate
// Velocity and its standard deviation in Cartesian (X/Y/Z) under ECEF-WGS84
// coordinate
optional
double
vel_x_m
=
12
;
optional
double
vel_y_m
=
13
;
optional
double
vel_z_m
=
14
;
optional
double
std_vel_x_m
=
15
;
optional
double
std_vel_y_m
=
16
;
optional
double
std_vel_z_m
=
17
;
//Number of satellites involved in solution
//
Number of satellites involved in solution
optional
uint32
sovled_sat_num
=
18
;
//Group of observed satellites' directio cosine
repeated
SatDirCosine
sat_dir_cosine
=
19
;
//position dilution of precision
//
Group of observed satellites' directio cosine
repeated
SatDirCosine
sat_dir_cosine
=
19
;
//
position dilution of precision
optional
double
pdop
=
20
;
//horizontal dilution of precision
//
horizontal dilution of precision
optional
double
hdop
=
21
;
//vertical dilution of precision
//
vertical dilution of precision
optional
double
vdop
=
22
;
}
modules/localization/proto/measure.proto
浏览文件 @
3a4512fd
...
...
@@ -8,26 +8,26 @@ import "modules/common/proto/geometry.proto";
message
IntegMeasure
{
optional
apollo.common.Header
header
=
1
;
enum
MeasureType
{
//the measure data only include gnss position
enum
MeasureType
{
//
the measure data only include gnss position
GNSS_POS_ONLY
=
0
;
//the measure data include gnss position and velocity
//
the measure data include gnss position and velocity
GNSS_POS_VEL
=
1
;
//the measure data include gnss position
//
the measure data include gnss position
GNSS_POS_XY
=
2
;
//the measure data only include gnss velocity
GNSS_VEL_ONLY
=
3
;
//the measure data only include point cloud position
//
the measure data only include gnss velocity
GNSS_VEL_ONLY
=
3
;
//
the measure data only include point cloud position
POINT_CLOUD_POS
=
4
;
//the measure data only include odometer velocity
//
the measure data only include odometer velocity
ODOMETER_VEL_ONLY
=
5
;
//trigger measure update using vehicle constraint
//
trigger measure update using vehicle constraint
VEHICLE_CONSTRAINT
=
6
;
}
optional
MeasureType
measure_type
=
2
;
enum
FrameType
{
enum
FrameType
{
// Position give the longitude and latitude unit:rad.
ENU
=
0
;
// Position give x y and z from earth center.
...
...
modules/localization/proto/pose.proto
浏览文件 @
3a4512fd
...
...
@@ -43,7 +43,8 @@ message Pose {
optional
apollo.common.Point3D
angular_velocity
=
5
;
// Heading
// The heading is zero when the car is facing East and positive when facing North.
// The heading is zero when the car is facing East and positive when facing
// North.
optional
double
heading
=
6
;
// Linear acceleration of the VRP in the vehicle reference frame.
...
...
modules/map/proto/map.proto
浏览文件 @
3a4512fd
...
...
@@ -17,7 +17,8 @@ import "modules/map/proto/map_parking_space.proto";
// This message defines how we project the ellipsoidal Earth surface to a plane.
message
Projection
{
// PROJ.4 setting:
// "+proj=tmerc +lat_0={origin.lat} +lon_0={origin.lon} +k={scale_factor} +ellps=WGS84 +no_defs"
// "+proj=tmerc +lat_0={origin.lat} +lon_0={origin.lon} +k={scale_factor}
// +ellps=WGS84 +no_defs"
optional
string
proj
=
1
;
}
...
...
modules/map/proto/map_geometry.proto
浏览文件 @
3a4512fd
...
...
@@ -21,7 +21,7 @@ message CurveSegment {
}
optional
double
s
=
6
;
// start position (s-coordinate)
optional
apollo.common.PointENU
start_position
=
7
;
optional
double
heading
=
8
;
// start orientation
optional
double
heading
=
8
;
// start orientation
optional
double
length
=
9
;
}
...
...
modules/map/proto/map_lane.proto
浏览文件 @
3a4512fd
...
...
@@ -37,12 +37,14 @@ message LaneSampleAssociation {
optional
double
width
=
2
;
}
// A lane is part of a roadway, that is designated for use by a single line of vehicles.
// A lane is part of a roadway, that is designated for use by a single line of
// vehicles.
// Most public roads (include highways) have more than two lanes.
message
Lane
{
optional
Id
id
=
1
;
// Central lane as reference trajectory, not necessary to be the geometry central.
// Central lane as reference trajectory, not necessary to be the geometry
// central.
optional
Curve
central_curve
=
2
;
// Lane boundary curve.
...
...
@@ -103,4 +105,3 @@ message Lane {
repeated
LaneSampleAssociation
left_road_sample
=
20
;
repeated
LaneSampleAssociation
right_road_sample
=
21
;
}
modules/map/proto/map_overlap.proto
浏览文件 @
3a4512fd
...
...
@@ -5,8 +5,8 @@ package apollo.hdmap;
import
"modules/map/proto/map_id.proto"
;
message
LaneOverlapInfo
{
optional
double
start_s
=
1
;
//position (s-coordinate)
optional
double
end_s
=
2
;
//position (s-coordinate)
optional
double
start_s
=
1
;
//
position (s-coordinate)
optional
double
end_s
=
2
;
//
position (s-coordinate)
optional
bool
is_merge
=
3
;
}
...
...
modules/map/proto/map_road.proto
浏览文件 @
3a4512fd
...
...
@@ -32,8 +32,10 @@ message RoadROIBoundary {
repeated
RoadBoundary
road_boundaries
=
2
;
}
// road section defines a road cross-section, At least one section must be defined in order to
// use a road, If multiple road sections are defined, they must be listed in order along the road
// road section defines a road cross-section, At least one section must be
// defined in order to
// use a road, If multiple road sections are defined, they must be listed in
// order along the road
message
RoadSection
{
optional
Id
id
=
1
;
// lanes contained in this section
...
...
@@ -42,7 +44,8 @@ message RoadSection {
optional
RoadBoundary
boundary
=
3
;
}
// The road is a collection of traffic elements, such as lanes, road boundary etc.
// The road is a collection of traffic elements, such as lanes, road boundary
// etc.
// It provides general information about the road.
message
Road
{
optional
Id
id
=
1
;
...
...
modules/map/proto/map_speed_bump.proto
浏览文件 @
3a4512fd
...
...
@@ -6,7 +6,7 @@ import "modules/map/proto/map_id.proto";
import
"modules/map/proto/map_geometry.proto"
;
message
SpeedBump
{
optional
Id
id
=
1
;
repeated
Id
overlap_id
=
2
;
repeated
Curve
position
=
3
;
optional
Id
id
=
1
;
repeated
Id
overlap_id
=
2
;
repeated
Curve
position
=
3
;
}
modules/map/proto/map_speed_control.proto
浏览文件 @
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...
...
@@ -15,5 +15,5 @@ message SpeedControl {
}
message
SpeedControls
{
repeated
SpeedControl
speed_control
=
1
;
repeated
SpeedControl
speed_control
=
1
;
}
modules/map/proto/map_stop_sign.proto
浏览文件 @
3a4512fd
...
...
@@ -5,9 +5,9 @@ package apollo.hdmap;
import
"modules/map/proto/map_id.proto"
;
import
"modules/map/proto/map_geometry.proto"
;
// A stop sign is a traffic sign to notify drivers that they must stop before proceeding.
// A stop sign is a traffic sign to notify drivers that they must stop before
// proceeding.
message
StopSign
{
optional
Id
id
=
1
;
repeated
Curve
stop_line
=
2
;
...
...
modules/map/proto/map_yield_sign.proto
浏览文件 @
3a4512fd
...
...
@@ -5,8 +5,10 @@ package apollo.hdmap;
import
"modules/map/proto/map_id.proto"
;
import
"modules/map/proto/map_geometry.proto"
;
// A yield indicates that each driver must prepare to stop if necessary to let a driver on another approach proceed.
// A driver who stops or slows down to let another vehicle through has yielded the right of way to that vehicle.
// A yield indicates that each driver must prepare to stop if necessary to let a
// driver on another approach proceed.
// A driver who stops or slows down to let another vehicle through has yielded
// the right of way to that vehicle.
message
YieldSign
{
optional
Id
id
=
1
;
...
...
modules/map/relative_map/proto/navigation.proto
浏览文件 @
3a4512fd
...
...
@@ -10,7 +10,7 @@ import "modules/perception/proto/perception_obstacle.proto";
message
NavigationPath
{
optional
apollo.common.Path
path
=
1
;
// highest = 0 which can directly reach destination; change lane indicator
// highest = 0 which can directly reach destination; change lane indicator
optional
uint32
path_priority
=
2
;
}
...
...
modules/map/relative_map/proto/relative_map_config.proto
浏览文件 @
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...
...
@@ -3,21 +3,22 @@ syntax = "proto2";
package
apollo
.
relative_map
;
message
MapGenerationParam
{
optional
double
default_left_width
=
1
[
default
=
1.75
];
optional
double
default_right_width
=
2
[
default
=
1.75
];
optional
double
default_speed_limit
=
3
[
default
=
29.0576
];
// default is 65mph
optional
double
default_left_width
=
1
[
default
=
1.75
];
optional
double
default_right_width
=
2
[
default
=
1.75
];
optional
double
default_speed_limit
=
3
[
default
=
29.0576
];
// default is 65mph
}
message
NavigationLaneConfig
{
optional
double
min_lane_marker_quality
=
1
[
default
=
0.5
];
enum
LaneSource
{
PERCEPTION
=
1
;
OFFLINE_GENERATED
=
2
;
}
optional
LaneSource
lane_source
=
2
;
optional
double
min_lane_marker_quality
=
1
[
default
=
0.5
];
enum
LaneSource
{
PERCEPTION
=
1
;
OFFLINE_GENERATED
=
2
;
}
optional
LaneSource
lane_source
=
2
;
}
message
RelativeMapConfig
{
optional
MapGenerationParam
map_param
=
1
;
optional
NavigationLaneConfig
navigation_lane
=
2
;
optional
MapGenerationParam
map_param
=
1
;
optional
NavigationLaneConfig
navigation_lane
=
2
;
}
modules/perception/model/cnn_segmentation/deploy.prototxt
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modules/perception/model/traffic_light/det_all/2017-10-24/deploy.prototxt
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modules/perception/model/traffic_light/det_all/2017-11-17/deploy.prototxt
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modules/perception/model/traffic_light/rcg_all/2017-09-15/horizontal/deploy.prototxt
浏览文件 @
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name: "Net"
layer{
name: "input"
type: "Input"
top: "data_org"
input_param{
name : "Net" layer {
name:
"input" type : "Input" top : "data_org" input_param {
shape {
dim:1
dim:3
dim:32
dim:96
dim:
1 dim : 3 dim : 32 dim : 96
}
}
}
layer {
name: "distort"
type: "ImageDistort"
bottom: "data_org"
top: "data"
image_distort_param {
new_scale: 0.01
new_mean_value: 69.06
new_mean_value: 66.58
new_mean_value: 66.56
name:
"distort" type : "ImageDistort" bottom : "data_org" top
: "data" image_distort_param {
new_scale:
0.01 new_mean_value : 69.06 new_mean_value : 66.58 new_mean_value : 66.56
}
}
layer{
name: "conv1"
type: "Convolution"
bottom: "data"
top: "conv1"
param{
lr_mult: 1.000000
decay_mult: 1.000000
}
param {
lr_mult: 2.000000
decay_mult: 0.000000
layer {
name:
"conv1" type : "Convolution" bottom : "data" top : "conv1" param {
lr_mult:
1.000000 decay_mult : 1.000000
}
param {
lr_mult:
2.000000 decay_mult : 0.000000
}
convolution_param {
num_output:
32 kernel_size : 3 pad : 1 stride : 1 dilation : 1 weight_filler {
type:
"msra"
}
convolution_param {
num_output: 32
kernel_size: 3
pad: 1
stride: 1
dilation: 1
weight_filler {
type: "msra"
}
bias_filler {
type: "constant"
value: 0.000000
}
bias_filler {
type:
"constant" value : 0.000000
}
}
}
layer{
type: "BatchNorm"
name: "conv1_bn"
bottom: "conv1"
top: "conv1"
batch_norm_param{
use_global_stats: true
}
}
layer {
type: "Scale"
name: "conv1_bn_scale"
bottom: "conv1"
top: "conv1"
scale_param {
axis: 1
num_axes: 1
bias_term: false
}
}
layer{
type: "ReLU"
name: "conv1_relu"
bottom: "conv1"
top: "conv1"
}
layer {
name: "pool1"
type: "Pooling"
bottom: "conv1"
top: "pool1"
pooling_param {
pool: MAX
kernel_w: 3
kernel_h: 3
stride_w: 2
stride_h: 2
cmp_out_shape_floor_as_conv: true
}
}
layer{
name: "conv2"
type: "Convolution"
bottom: "pool1"
top: "conv2"
param{
lr_mult: 1.000000
decay_mult: 1.000000
}
param {
lr_mult: 2.000000
decay_mult: 0.000000
layer {
type:
"BatchNorm" name : "conv1_bn" bottom : "conv1" top
: "conv1" batch_norm_param {
use_global_stats:
true
}
}
layer {
type:
"Scale" name : "conv1_bn_scale" bottom : "conv1" top : "conv1" scale_param {
axis:
1 num_axes : 1 bias_term : false
}
}
layer {
type:
"ReLU" name : "conv1_relu" bottom : "conv1" top : "conv1"
}
layer {
name:
"pool1" type : "Pooling" bottom : "conv1" top : "pool1" pooling_param {
pool:
MAX kernel_w : 3 kernel_h : 3 stride_w : 2 stride_h : 2 cmp_out_shape_floor_as_conv
: true
}
}
layer {
name:
"conv2" type : "Convolution" bottom : "pool1" top : "conv2" param {
lr_mult:
1.000000 decay_mult : 1.000000
}
param {
lr_mult:
2.000000 decay_mult : 0.000000
}
convolution_param {
num_output:
64 kernel_size : 3 pad : 1 stride : 1 dilation : 1 weight_filler {
type:
"msra"
}
convolution_param {
num_output: 64
kernel_size: 3
pad: 1
stride: 1
dilation: 1
weight_filler {
type: "msra"
}
bias_filler {
type: "constant"
value: 0.000000
}
bias_filler {
type:
"constant" value : 0.000000
}
}
}
layer{
type: "BatchNorm"
name: "conv2_bn"
bottom: "conv2"
top: "conv2"
batch_norm_param{
use_global_stats: true
}
}
layer {
type: "Scale"
name: "conv2_bn_scale"
bottom: "conv2"
top: "conv2"
scale_param {
axis: 1
num_axes: 1
bias_term: false
}
}
layer{
type: "ReLU"
name: "conv2_relu"
bottom: "conv2"
top: "conv2"
}
layer {
name: "pool2"
type: "Pooling"
bottom: "conv2"
top: "pool2"
pooling_param {
pool: MAX
kernel_w: 3
kernel_h: 3
stride_w: 2
stride_h: 2
cmp_out_shape_floor_as_conv: true
}
}
layer{
name: "conv3"
type: "Convolution"
bottom: "pool2"
top: "conv3"
param{
lr_mult: 1.000000
decay_mult: 1.000000
}
param {
lr_mult: 2.000000
decay_mult: 0.000000
layer {
type:
"BatchNorm" name : "conv2_bn" bottom : "conv2" top
: "conv2" batch_norm_param {
use_global_stats:
true
}
}
layer {
type:
"Scale" name : "conv2_bn_scale" bottom : "conv2" top : "conv2" scale_param {
axis:
1 num_axes : 1 bias_term : false
}
}
layer {
type:
"ReLU" name : "conv2_relu" bottom : "conv2" top : "conv2"
}
layer {
name:
"pool2" type : "Pooling" bottom : "conv2" top : "pool2" pooling_param {
pool:
MAX kernel_w : 3 kernel_h : 3 stride_w : 2 stride_h : 2 cmp_out_shape_floor_as_conv
: true
}
}
layer {
name:
"conv3" type : "Convolution" bottom : "pool2" top : "conv3" param {
lr_mult:
1.000000 decay_mult : 1.000000
}
param {
lr_mult:
2.000000 decay_mult : 0.000000
}
convolution_param {
num_output:
128 kernel_size : 3 pad : 1 stride : 1 dilation : 1 weight_filler {
type:
"msra"
}
convolution_param {
num_output: 128
kernel_size: 3
pad: 1
stride: 1
dilation: 1
weight_filler {
type: "msra"
}
bias_filler {
type: "constant"
value: 0.000000
}
bias_filler {
type:
"constant" value : 0.000000
}
}
}
layer{
type: "BatchNorm"
name: "conv3_bn"
bottom: "conv3"
top: "conv3"
batch_norm_param{
use_global_stats: true
}
}
layer {
type: "Scale"
name: "conv3_bn_scale"
bottom: "conv3"
top: "conv3"
scale_param {
axis: 1
num_axes: 1
bias_term: false
}
}
layer{
type: "ReLU"
name: "conv3_relu"
bottom: "conv3"
top: "conv3"
}
layer {
name: "pool3"
type: "Pooling"
bottom: "conv3"
top: "pool3"
pooling_param {
pool: MAX
kernel_w: 3
kernel_h: 3
stride_w: 2
stride_h: 2
cmp_out_shape_floor_as_conv: true
}
}
layer{
name: "conv4"
type: "Convolution"
bottom: "pool3"
top: "conv4"
param{
lr_mult: 1.000000
decay_mult: 1.000000
}
param {
lr_mult: 2.000000
decay_mult: 0.000000
layer {
type:
"BatchNorm" name : "conv3_bn" bottom : "conv3" top
: "conv3" batch_norm_param {
use_global_stats:
true
}
}
layer {
type:
"Scale" name : "conv3_bn_scale" bottom : "conv3" top : "conv3" scale_param {
axis:
1 num_axes : 1 bias_term : false
}
}
layer {
type:
"ReLU" name : "conv3_relu" bottom : "conv3" top : "conv3"
}
layer {
name:
"pool3" type : "Pooling" bottom : "conv3" top : "pool3" pooling_param {
pool:
MAX kernel_w : 3 kernel_h : 3 stride_w : 2 stride_h : 2 cmp_out_shape_floor_as_conv
: true
}
}
layer {
name:
"conv4" type : "Convolution" bottom : "pool3" top : "conv4" param {
lr_mult:
1.000000 decay_mult : 1.000000
}
param {
lr_mult:
2.000000 decay_mult : 0.000000
}
convolution_param {
num_output:
128 kernel_size : 3 pad : 1 stride : 1 dilation : 1 weight_filler {
type:
"msra"
}
convolution_param {
num_output: 128
kernel_size: 3
pad: 1
stride: 1
dilation: 1
weight_filler {
type: "msra"
}
bias_filler {
type: "constant"
value: 0.000000
}
bias_filler {
type:
"constant" value : 0.000000
}
}
}
layer{
type: "BatchNorm"
name: "conv4_bn"
bottom: "conv4"
top: "conv4"
batch_norm_param{
use_global_stats: true
}
}
layer {
type: "Scale"
name: "conv4_bn_scale"
bottom: "conv4"
top: "conv4"
scale_param {
axis: 1
num_axes: 1
bias_term: false
}
}
layer{
type: "ReLU"
name: "conv4_relu"
bottom: "conv4"
top: "conv4"
}
layer {
name: "pool4"
type: "Pooling"
bottom: "conv4"
top: "pool4"
pooling_param {
pool: MAX
kernel_w: 3
kernel_h: 3
stride_w: 2
stride_h: 2
cmp_out_shape_floor_as_conv: true
}
}
layer{
name: "conv5"
type: "Convolution"
bottom: "pool4"
top: "conv5"
param{
lr_mult: 1.000000
decay_mult: 1.000000
}
param {
lr_mult: 2.000000
decay_mult: 0.000000
layer {
type:
"BatchNorm" name : "conv4_bn" bottom : "conv4" top
: "conv4" batch_norm_param {
use_global_stats:
true
}
}
layer {
type:
"Scale" name : "conv4_bn_scale" bottom : "conv4" top : "conv4" scale_param {
axis:
1 num_axes : 1 bias_term : false
}
}
layer {
type:
"ReLU" name : "conv4_relu" bottom : "conv4" top : "conv4"
}
layer {
name:
"pool4" type : "Pooling" bottom : "conv4" top : "pool4" pooling_param {
pool:
MAX kernel_w : 3 kernel_h : 3 stride_w : 2 stride_h : 2 cmp_out_shape_floor_as_conv
: true
}
}
layer {
name:
"conv5" type : "Convolution" bottom : "pool4" top : "conv5" param {
lr_mult:
1.000000 decay_mult : 1.000000
}
param {
lr_mult:
2.000000 decay_mult : 0.000000
}
convolution_param {
num_output:
128 kernel_size : 3 pad : 1 stride : 1 dilation : 1 weight_filler {
type:
"msra"
}
convolution_param {
num_output: 128
kernel_size: 3
pad: 1
stride: 1
dilation: 1
weight_filler {
type: "msra"
}
bias_filler {
type: "constant"
value: 0.000000
}
bias_filler {
type:
"constant" value : 0.000000
}
}
}
layer{
type: "BatchNorm"
name: "conv5_bn"
bottom: "conv5"
top: "conv5"
batch_norm_param{
use_global_stats: true
layer {
type:
"BatchNorm" name : "conv5_bn" bottom : "conv5" top
: "conv5" batch_norm_param {
use_global_stats:
true
}
}
layer {
type: "Scale"
name: "conv5_bn_scale"
bottom: "conv5"
top: "conv5"
scale_param {
axis: 1
num_axes: 1
bias_term: false
type:
"Scale" name : "conv5_bn_scale" bottom : "conv5" top : "conv5" scale_param {
axis:
1 num_axes : 1 bias_term : false
}
}
layer{
type: "ReLU"
name: "conv5_relu"
bottom: "conv5"
top: "conv5"
layer {
type:
"ReLU" name : "conv5_relu" bottom : "conv5" top : "conv5"
}
layer {
name: "pool5"
type: "Pooling"
bottom: "conv5"
top: "pool5"
pooling_param {
pool: AVE
kernel_w: 6
kernel_h: 2
stride_w: 6
stride_h: 2
cmp_out_shape_floor_as_conv: true
name:
"pool5" type : "Pooling" bottom : "conv5" top : "pool5" pooling_param {
pool:
AVE kernel_w : 6 kernel_h : 2 stride_w : 6 stride_h : 2 cmp_out_shape_floor_as_conv
: true
}
}
layer {
name: "ft"
type: "InnerProduct"
bottom: "pool5"
top: "ft"
param {
lr_mult: 1.000000
decay_mult: 1.000000
name:
"ft" type : "InnerProduct" bottom : "pool5" top : "ft" param {
lr_mult:
1.000000 decay_mult : 1.000000
}
param {
lr_mult: 2.000000
decay_mult
: 0.000000
lr_mult:
2.000000 decay_mult
: 0.000000
}
inner_product_param {
num_output: 128
weight_filler {
type: "msra"
num_output:
128 weight_filler {
type:
"msra"
}
bias_filler {
type: "constant"
value
: 0.000000
type:
"constant" value
: 0.000000
}
}
}
layer{
type: "BatchNorm"
name: "ft_bn"
bottom: "ft"
top: "ft"
batch_norm_param{
use_global_stats: true
layer {
type:
"BatchNorm" name : "ft_bn" bottom : "ft" top : "ft" batch_norm_param {
use_global_stats:
true
}
}
layer {
type: "Scale"
name: "ft_bn_scale"
bottom: "ft"
top: "ft"
scale_param {
axis: 1
num_axes: 1
bias_term: false
type:
"Scale" name : "ft_bn_scale" bottom : "ft" top : "ft" scale_param {
axis:
1 num_axes : 1 bias_term : false
}
}
layer{
type: "ReLU"
name: "ft_relu"
bottom: "ft"
top: "ft"
layer {
type:
"ReLU" name : "ft_relu" bottom : "ft" top : "ft"
}
layer {
name: "logits"
type: "InnerProduct"
bottom: "ft"
top: "logits"
param {
lr_mult: 1.000000
decay_mult: 1.000000
name:
"logits" type : "InnerProduct" bottom : "ft" top : "logits" param {
lr_mult:
1.000000 decay_mult : 1.000000
}
param {
lr_mult: 2.000000
decay_mult
: 0.000000
lr_mult:
2.000000 decay_mult
: 0.000000
}
inner_product_param {
num_output: 4
weight_filler {
type: "msra"
num_output:
4 weight_filler {
type:
"msra"
}
bias_filler {
type: "constant"
value
: 0.000000
type:
"constant" value
: 0.000000
}
}
}
layer {
name: "prob"
type: "Softmax"
bottom: "logits"
top: "prob"
name:
"prob" type : "Softmax" bottom : "logits" top : "prob"
}
modules/perception/model/traffic_light/rcg_all/2017-09-15/quadrate/deploy.prototxt
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modules/perception/model/traffic_light/rcg_all/2017-09-15/vertical/deploy.prototxt
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modules/perception/model/traffic_light/rcg_all/2017-11-17/vertical/deploy.prototxt
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modules/perception/obstacle/camera/detector/common/proto/tracking_feature.proto
浏览文件 @
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...
...
@@ -3,29 +3,29 @@ syntax = "proto2";
package
apollo
.
perception
;
message
FeatureParam
{
optional
int32
feat_stride
=
1
[
default
=
32
];
repeated
ExtractorParam
extractor
=
2
;
optional
string
remap_model
=
3
;
optional
int32
feat_stride
=
1
[
default
=
32
];
repeated
ExtractorParam
extractor
=
2
;
optional
string
remap_model
=
3
;
}
message
ExtractorParam
{
enum
FeatureType
{
Reorg
=
0
;
ROIPooling
=
1
;
}
optional
string
feat_blob
=
1
;
optional
FeatureType
feat_type
=
2
[
default
=
Reorg
];
optional
ROIPoolingParam
roi_pooling_param
=
3
;
optional
ReorgParam
reorg_param
=
4
;
enum
FeatureType
{
Reorg
=
0
;
ROIPooling
=
1
;
}
optional
string
feat_blob
=
1
;
optional
FeatureType
feat_type
=
2
[
default
=
Reorg
];
optional
ROIPoolingParam
roi_pooling_param
=
3
;
optional
ReorgParam
reorg_param
=
4
;
}
message
ROIPoolingParam
{
optional
int32
pooled_h
=
1
[
default
=
3
];
optional
int32
pooled_w
=
2
[
default
=
3
];
optional
bool
use_floor
=
3
[
default
=
false
];
optional
int32
pooled_h
=
1
[
default
=
3
];
optional
int32
pooled_w
=
2
[
default
=
3
];
optional
bool
use_floor
=
3
[
default
=
false
];
}
message
ReorgParam
{
optional
int32
ref_height
=
1
[
default
=
0
];
optional
int32
ref_width
=
2
[
default
=
0
];
optional
int32
ref_height
=
1
[
default
=
0
];
optional
int32
ref_width
=
2
[
default
=
0
];
}
modules/perception/obstacle/camera/detector/yolo_camera_detector/proto/yolo.proto
浏览文件 @
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...
...
@@ -2,52 +2,49 @@ syntax = "proto2";
package
apollo
.
perception.obstacle.yolo
;
enum
ModelType
{
Caffe
=
0
;
}
enum
ModelType
{
Caffe
=
0
;
}
message
YoloParam
{
required
ModelParam
model_param
=
1
;
required
NetworkParam
net_param
=
2
;
optional
NMSParam
nms_param
=
3
;
required
ModelParam
model_param
=
1
;
required
NetworkParam
net_param
=
2
;
optional
NMSParam
nms_param
=
3
;
}
message
ModelParam
{
required
string
model_name
=
1
[
default
=
"yolo-2d"
];
optional
string
proto_file
=
2
[
default
=
"deploy.pt"
];
optional
string
weight_file
=
3
[
default
=
"deploy.md"
];
optional
string
anchors_file
=
4
[
default
=
"anchors.txt"
];
optional
string
types_file
=
5
[
default
=
"types.txt"
];
optional
string
feature_file
=
6
[
default
=
"feature.pt"
];
optional
float
offset_ratio
=
7
[
default
=
0.288889
];
optional
float
cropped_ratio
=
13
[
default
=
0.711111
];
optional
int32
resized_width
=
14
[
default
=
1440
];
optional
int32
aligned_pixel
=
15
[
default
=
32
];
optional
float
confidence_threshold
=
8
[
default
=
0.1
];
optional
float
min_2d_height
=
9
[
default
=
0.0
];
optional
float
min_3d_height
=
10
[
default
=
0.0
];
optional
string
calibratetable_root
=
11
[
default
=
"./"
];
optional
ModelType
model_type
=
12
[
default
=
Caffe
];
optional
int32
ignored_height
=
16
[
default
=
100
];
required
string
model_name
=
1
[
default
=
"yolo-2d"
];
optional
string
proto_file
=
2
[
default
=
"deploy.pt"
];
optional
string
weight_file
=
3
[
default
=
"deploy.md"
];
optional
string
anchors_file
=
4
[
default
=
"anchors.txt"
];
optional
string
types_file
=
5
[
default
=
"types.txt"
];
optional
string
feature_file
=
6
[
default
=
"feature.pt"
];
optional
float
offset_ratio
=
7
[
default
=
0.288889
];
optional
float
cropped_ratio
=
13
[
default
=
0.711111
];
optional
int32
resized_width
=
14
[
default
=
1440
];
optional
int32
aligned_pixel
=
15
[
default
=
32
];
optional
float
confidence_threshold
=
8
[
default
=
0.1
];
optional
float
min_2d_height
=
9
[
default
=
0.0
];
optional
float
min_3d_height
=
10
[
default
=
0.0
];
optional
string
calibratetable_root
=
11
[
default
=
"./"
];
optional
ModelType
model_type
=
12
[
default
=
Caffe
];
optional
int32
ignored_height
=
16
[
default
=
100
];
}
message
NetworkParam
{
optional
string
loc_blob
=
1
[
default
=
"loc_pred"
];
optional
string
obj_blob
=
2
[
default
=
"obj_pred"
];
optional
string
cls_blob
=
3
[
default
=
"cls_pred"
];
optional
string
ori_blob
=
4
[
default
=
"ori_pred"
];
optional
string
dim_blob
=
5
[
default
=
"dim_pred"
];
optional
string
lof_blob
=
6
[
default
=
"lof_pred"
];
optional
string
lor_blob
=
7
[
default
=
"lor_pred"
];
optional
string
seg_blob
=
8
[
default
=
"seg_pred"
];
optional
string
input_blob
=
10
[
default
=
"data"
];
optional
string
loc_blob
=
1
[
default
=
"loc_pred"
];
optional
string
obj_blob
=
2
[
default
=
"obj_pred"
];
optional
string
cls_blob
=
3
[
default
=
"cls_pred"
];
optional
string
ori_blob
=
4
[
default
=
"ori_pred"
];
optional
string
dim_blob
=
5
[
default
=
"dim_pred"
];
optional
string
lof_blob
=
6
[
default
=
"lof_pred"
];
optional
string
lor_blob
=
7
[
default
=
"lor_pred"
];
optional
string
seg_blob
=
8
[
default
=
"seg_pred"
];
optional
string
input_blob
=
10
[
default
=
"data"
];
}
message
NMSParam
{
optional
string
type
=
1
[
default
=
"NormalNMS"
];
optional
float
threshold
=
2
[
default
=
0.4
];
optional
float
sigma
=
3
[
default
=
0.4
];
optional
float
inter_cls_nms_thresh
=
4
[
default
=
1.0
];
optional
float
cross_class_merge_thresh
=
5
[
default
=
0.8
];
optional
string
type
=
1
[
default
=
"NormalNMS"
];
optional
float
threshold
=
2
[
default
=
0.4
];
optional
float
sigma
=
3
[
default
=
0.4
];
optional
float
inter_cls_nms_thresh
=
4
[
default
=
1.0
];
optional
float
cross_class_merge_thresh
=
5
[
default
=
0.8
];
}
modules/perception/obstacle/lidar/segmentation/cnnseg/proto/cnnseg.proto
浏览文件 @
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...
...
@@ -3,36 +3,36 @@ syntax = "proto2";
package
apollo
.
perception.cnnseg
;
message
CNNSegParam
{
required
NetworkParam
network_param
=
1
;
required
FeatureParam
feature_param
=
2
;
required
NetworkParam
network_param
=
1
;
required
FeatureParam
feature_param
=
2
;
optional
float
objectness_thresh
=
11
[
default
=
0.5
];
optional
bool
use_all_grids_for_clustering
=
12
[
default
=
false
];
optional
float
confidence_thresh
=
13
[
default
=
0.1
];
optional
float
height_thresh
=
14
[
default
=
0.5
];
optional
uint32
min_pts_num
=
15
[
default
=
3
];
optional
float
objectness_thresh
=
11
[
default
=
0.5
];
optional
bool
use_all_grids_for_clustering
=
12
[
default
=
false
];
optional
float
confidence_thresh
=
13
[
default
=
0.1
];
optional
float
height_thresh
=
14
[
default
=
0.5
];
optional
uint32
min_pts_num
=
15
[
default
=
3
];
optional
bool
use_full_cloud
=
31
[
default
=
false
];
optional
bool
use_full_cloud
=
31
[
default
=
false
];
optional
uint32
gpu_id
=
41
[
default
=
0
];
optional
float
filter_thresh
=
42
[
default
=
5
];
optional
float
enable_filter_thresh
=
43
[
default
=
700
];
optional
uint32
gpu_id
=
41
[
default
=
0
];
optional
float
filter_thresh
=
42
[
default
=
5
];
optional
float
enable_filter_thresh
=
43
[
default
=
700
];
}
message
NetworkParam
{
optional
string
instance_pt_blob
=
1
[
default
=
"instance_pt"
];
optional
string
category_pt_blob
=
2
[
default
=
"category_score"
];
optional
string
confidence_pt_blob
=
3
[
default
=
"confidence_score"
];
optional
string
height_pt_blob
=
4
[
default
=
"height_pt"
];
optional
string
feature_blob
=
5
[
default
=
"data"
];
optional
string
class_pt_blob
=
6
[
default
=
"class_score"
];
optional
string
instance_pt_blob
=
1
[
default
=
"instance_pt"
];
optional
string
category_pt_blob
=
2
[
default
=
"category_score"
];
optional
string
confidence_pt_blob
=
3
[
default
=
"confidence_score"
];
optional
string
height_pt_blob
=
4
[
default
=
"height_pt"
];
optional
string
feature_blob
=
5
[
default
=
"data"
];
optional
string
class_pt_blob
=
6
[
default
=
"class_score"
];
}
message
FeatureParam
{
optional
uint32
point_cloud_range
=
26
[
default
=
60
];
optional
uint32
width
=
27
[
default
=
640
];
optional
uint32
height
=
28
[
default
=
640
];
optional
uint32
point_cloud_range
=
26
[
default
=
60
];
optional
uint32
width
=
27
[
default
=
640
];
optional
uint32
height
=
28
[
default
=
640
];
optional
float
min_height
=
31
[
default
=
-
5.0
];
optional
float
max_height
=
32
[
default
=
5.0
];
optional
float
min_height
=
31
[
default
=
-
5.0
];
optional
float
max_height
=
32
[
default
=
5.0
];
}
modules/perception/onboard/proto/dag_config.proto
浏览文件 @
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...
...
@@ -3,51 +3,51 @@ syntax = "proto2";
package
apollo
.
perception
;
message
DAGConfig
{
enum
SubnodeType
{
SUBNODE_IN
=
1
;
SUBNODE_OUT
=
2
;
SUBNODE_NORMAL
=
3
;
};
// Subnode instance.
message
Subnode
{
required
int32
id
=
1
;
required
string
name
=
2
;
// node private data.
optional
string
reserve
=
3
;
optional
SubnodeType
type
=
4
[
default
=
SUBNODE_NORMAL
];
};
message
SubnodeConfig
{
repeated
Subnode
subnodes
=
1
;
};
message
Event
{
required
int32
id
=
1
;
optional
string
name
=
2
;
};
message
Edge
{
required
int32
id
=
1
;
required
int32
from_node
=
2
;
required
int32
to_node
=
3
;
repeated
Event
events
=
4
;
};
message
EdgeConfig
{
repeated
Edge
edges
=
1
;
}
message
SharedData
{
required
int32
id
=
1
;
required
string
name
=
2
;
};
message
SharedDataConfig
{
repeated
SharedData
datas
=
1
;
}
required
SubnodeConfig
subnode_config
=
1
;
required
EdgeConfig
edge_config
=
2
;
required
SharedDataConfig
data_config
=
3
;
enum
SubnodeType
{
SUBNODE_IN
=
1
;
SUBNODE_OUT
=
2
;
SUBNODE_NORMAL
=
3
;
};
// Subnode instance.
message
Subnode
{
required
int32
id
=
1
;
required
string
name
=
2
;
// node private data.
optional
string
reserve
=
3
;
optional
SubnodeType
type
=
4
[
default
=
SUBNODE_NORMAL
];
};
message
SubnodeConfig
{
repeated
Subnode
subnodes
=
1
;
};
message
Event
{
required
int32
id
=
1
;
optional
string
name
=
2
;
};
message
Edge
{
required
int32
id
=
1
;
required
int32
from_node
=
2
;
required
int32
to_node
=
3
;
repeated
Event
events
=
4
;
};
message
EdgeConfig
{
repeated
Edge
edges
=
1
;
}
message
SharedData
{
required
int32
id
=
1
;
required
string
name
=
2
;
};
message
SharedDataConfig
{
repeated
SharedData
datas
=
1
;
}
required
SubnodeConfig
subnode_config
=
1
;
required
EdgeConfig
edge_config
=
2
;
required
SharedDataConfig
data_config
=
3
;
};
modules/perception/proto/async_fusion_config.proto
浏览文件 @
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...
...
@@ -3,18 +3,18 @@ syntax = "proto2";
package
apollo
.
perception.async_fusion_config
;
message
ModelConfigs
{
optional
string
name
=
1
[
default
=
"AsyncFusion"
];
optional
string
version
=
2
[
default
=
"1.0.0"
];
optional
string
match_method
=
3
[
default
=
"hm_matcher"
];
optional
float
max_match_distance
=
4
[
default
=
4.0
];
optional
float
max_lidar_invisible_period
=
5
[
default
=
0.25
];
optional
float
max_radar_invisible_period
=
6
[
default
=
0.25
];
optional
float
max_radar_confident_angle
=
7
[
default
=
30.0
];
optional
float
min_radar_confident_distance
=
8
[
default
=
40.0
];
optional
bool
publish_if_has_lidar
=
9
[
default
=
true
];
optional
bool
publish_if_has_radar
=
10
[
default
=
true
];
optional
string
name
=
1
[
default
=
"AsyncFusion"
];
optional
string
version
=
2
[
default
=
"1.0.0"
];
optional
string
match_method
=
3
[
default
=
"hm_matcher"
];
optional
float
max_match_distance
=
4
[
default
=
4.0
];
optional
float
max_lidar_invisible_period
=
5
[
default
=
0.25
];
optional
float
max_radar_invisible_period
=
6
[
default
=
0.25
];
optional
float
max_radar_confident_angle
=
7
[
default
=
30.0
];
optional
float
min_radar_confident_distance
=
8
[
default
=
40.0
];
optional
bool
publish_if_has_lidar
=
9
[
default
=
true
];
optional
bool
publish_if_has_radar
=
10
[
default
=
true
];
// candidate values: "velodyne_64", "radar", "camera_front_short"
optional
string
publish_sensor
=
11
[
default
=
"velodyne_64"
];
optional
bool
use_radar
=
12
[
default
=
true
];
optional
bool
use_lidar
=
13
[
default
=
true
];
optional
string
publish_sensor
=
11
[
default
=
"velodyne_64"
];
optional
bool
use_radar
=
12
[
default
=
true
];
optional
bool
use_lidar
=
13
[
default
=
true
];
}
modules/perception/proto/cnn_segmentation_config.proto
浏览文件 @
3a4512fd
...
...
@@ -3,9 +3,12 @@ syntax = "proto2";
package
apollo
.
perception.cnn_segmentation_config
;
message
ModelConfigs
{
optional
string
name
=
1
[
default
=
"CNNSegmentation"
];
optional
string
version
=
2
[
default
=
"1.0.0"
];
optional
string
config_file
=
3
[
default
=
"modules/perception/model/cnn_segmentation/cnnseg.conf"
];
optional
string
proto_file
=
4
[
default
=
"modules/perception/model/cnn_segmentation/deploy.prototxt"
];
optional
string
weight_file
=
5
[
default
=
"modules/perception/model/cnn_segmentation/deploy.caffemodel"
];
optional
string
name
=
1
[
default
=
"CNNSegmentation"
];
optional
string
version
=
2
[
default
=
"1.0.0"
];
optional
string
config_file
=
3
[
default
=
"modules/perception/model/cnn_segmentation/cnnseg.conf"
];
optional
string
proto_file
=
4
[
default
=
"modules/perception/model/cnn_segmentation/deploy.prototxt"
];
optional
string
weight_file
=
5
[
default
=
"modules/perception/model/cnn_segmentation/deploy.caffemodel"
];
}
modules/perception/proto/geometry_camera_converter_config.proto
浏览文件 @
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...
...
@@ -3,7 +3,8 @@ syntax = "proto2";
package
apollo
.
perception.geometry_camera_converter_config
;
message
ModelConfigs
{
optional
string
name
=
1
[
default
=
"GeometryCameraConverter"
];
optional
string
version
=
2
[
default
=
"1.0.0"
];
optional
string
camera_intrinsic_file
=
3
[
default
=
"modules/perception/data/params/front_camera_intrinsics.yaml"
];
optional
string
name
=
1
[
default
=
"GeometryCameraConverter"
];
optional
string
version
=
2
[
default
=
"1.0.0"
];
optional
string
camera_intrinsic_file
=
3
[
default
=
"modules/perception/data/params/front_camera_intrinsics.yaml"
];
}
modules/perception/proto/hdmap_roi_filter_config.proto
浏览文件 @
3a4512fd
...
...
@@ -4,22 +4,23 @@ package apollo.perception.hdmap_roi_filter_config;
// hdmap ROI filter model
message
ModelConfigs
{
optional
string
name
=
1
[
default
=
"HdmapROIFilter"
];
optional
string
version
=
2
[
default
=
"1.0.0"
];
optional
string
name
=
1
[
default
=
"HdmapROIFilter"
];
optional
string
version
=
2
[
default
=
"1.0.0"
];
// @name: range
// @brief: create a bitmap mask which represents [-range, range]*[-range, range]
// @brief: create a bitmap mask which represents [-range, range]*[-range,
// range]
// square area around the car.
// @required: range > 0.0 && range - (-range) > cell_size
optional
double
range
=
3
[
default
=
70.0
];
optional
double
range
=
3
[
default
=
70.0
];
// @name: cell_size
// @brief: discretize the area using small cells.
// @required: cell_size > 0.0
optional
double
cell_size
=
4
[
default
=
0.25
];
optional
double
cell_size
=
4
[
default
=
0.25
];
// @name: extend_dist
// @brief: extend the intervals returned by polygon scans conversion algorithm
// @required: none
optional
double
extend_dist
=
5
[
default
=
0.0
];
optional
double
extend_dist
=
5
[
default
=
0.0
];
}
modules/perception/proto/lane_post_process_config.proto
浏览文件 @
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...
...
@@ -11,46 +11,47 @@ message ModelConfigs {
repeated
float
roi
=
6
;
optional
bool
use_non_mask
=
7
;
repeated
float
non_mask
=
8
;
optional
float
lane_map_confidence_thresh
=
9
[
default
=
0.95
];
optional
float
cc_split_siz
=
10
[
default
=
50.0
];
optional
int32
cc_split_len
=
11
[
default
=
25
];
optional
int32
min_cc_pixel_num
=
12
[
default
=
10
];
optional
int32
min_cc_size
=
13
[
default
=
5
];
optional
float
min_y_search_offset
=
14
[
default
=
0.5
];
optional
float
min_y_search_offset_image
=
15
[
default
=
0.5
];
optional
float
lane_map_confidence_thresh
=
9
[
default
=
0.95
];
optional
float
cc_split_siz
=
10
[
default
=
50.0
];
optional
int32
cc_split_len
=
11
[
default
=
25
];
optional
int32
min_cc_pixel_num
=
12
[
default
=
10
];
optional
int32
min_cc_size
=
13
[
default
=
5
];
optional
float
min_y_search_offset
=
14
[
default
=
0.5
];
optional
float
min_y_search_offset_image
=
15
[
default
=
0.5
];
optional
string
assoc_method
=
16
;
optional
float
assoc_min_distance
=
17
[
default
=
-
0.5
];
optional
float
assoc_min_distance_image
=
18
[
default
=
-
3.0
];
optional
float
assoc_max_distance
=
19
[
default
=
60.0
];
optional
float
assoc_max_distance_image
=
20
[
default
=
400.0
];
optional
float
assoc_distance_weight
=
21
[
default
=
0.4
];
optional
float
assoc_max_deviation_angle
=
22
[
default
=
15.0
];
optional
float
assoc_max_deviation_angle_image
=
23
[
default
=
45.0
];
optional
float
assoc_deviation_angle_weight
=
24
[
default
=
0.2
];
optional
float
assoc_max_departure_distance
=
25
[
default
=
3.0
];
optional
float
assoc_max_departure_distance_image
=
26
[
default
=
80.0
];
optional
float
assoc_departure_distance_weight
=
27
[
default
=
0.2
];
optional
float
assoc_max_relative_orie
=
28
[
default
=
15.0
];
optional
float
assoc_max_relative_orie_image
=
29
[
default
=
45.0
];
optional
float
assoc_relative_orie_weight
=
30
[
default
=
0.2
];
optional
float
assoc_min_orientation_estimation_size
=
31
[
default
=
3.0
];
optional
float
assoc_min_orientation_estimation_size_image
=
32
[
default
=
10.0
];
optional
int32
max_cc_marker_match_num
=
33
[
default
=
1
];
optional
float
slide_window_size
=
34
[
default
=
15.0
];
optional
float
slide_window_size_image
=
35
[
default
=
200.0
];
optional
int32
slide_window_max_point_num
=
36
[
default
=
3
];
optional
int32
max_group_prediction_marker_num
=
37
[
default
=
3
];
optional
int32
orientation_estimation_skip_marker_num
=
38
[
default
=
1
];
optional
float
lane_interval_distance
=
39
[
default
=
4.0
];
optional
float
min_instance_size_prefiltered
=
40
[
default
=
3.0
];
optional
float
min_instance_size_prefiltered_image
=
41
[
default
=
20.0
];
optional
float
max_size_to_fit_straight_line
=
42
[
default
=
10.0
];
optional
float
max_size_to_fit_straight_line_image
=
43
[
default
=
300.0
];
optional
float
online_pitch_angle
=
44
[
default
=
-
2.5
];
optional
float
ground_height
=
45
[
default
=
1.6
];
optional
float
max_distance_to_see_for_transformer
=
46
[
default
=
500.0
];
optional
float
lane_map_scale
=
47
[
default
=
2.0
];
optional
int32
start_y_pos
=
48
[
default
=
312
];
optional
int32
lane_map_width
=
49
[
default
=
960
];
optional
int32
lane_map_height
=
50
[
default
=
384
];
optional
float
assoc_min_distance
=
17
[
default
=
-
0.5
];
optional
float
assoc_min_distance_image
=
18
[
default
=
-
3.0
];
optional
float
assoc_max_distance
=
19
[
default
=
60.0
];
optional
float
assoc_max_distance_image
=
20
[
default
=
400.0
];
optional
float
assoc_distance_weight
=
21
[
default
=
0.4
];
optional
float
assoc_max_deviation_angle
=
22
[
default
=
15.0
];
optional
float
assoc_max_deviation_angle_image
=
23
[
default
=
45.0
];
optional
float
assoc_deviation_angle_weight
=
24
[
default
=
0.2
];
optional
float
assoc_max_departure_distance
=
25
[
default
=
3.0
];
optional
float
assoc_max_departure_distance_image
=
26
[
default
=
80.0
];
optional
float
assoc_departure_distance_weight
=
27
[
default
=
0.2
];
optional
float
assoc_max_relative_orie
=
28
[
default
=
15.0
];
optional
float
assoc_max_relative_orie_image
=
29
[
default
=
45.0
];
optional
float
assoc_relative_orie_weight
=
30
[
default
=
0.2
];
optional
float
assoc_min_orientation_estimation_size
=
31
[
default
=
3.0
];
optional
float
assoc_min_orientation_estimation_size_image
=
32
[
default
=
10.0
];
optional
int32
max_cc_marker_match_num
=
33
[
default
=
1
];
optional
float
slide_window_size
=
34
[
default
=
15.0
];
optional
float
slide_window_size_image
=
35
[
default
=
200.0
];
optional
int32
slide_window_max_point_num
=
36
[
default
=
3
];
optional
int32
max_group_prediction_marker_num
=
37
[
default
=
3
];
optional
int32
orientation_estimation_skip_marker_num
=
38
[
default
=
1
];
optional
float
lane_interval_distance
=
39
[
default
=
4.0
];
optional
float
min_instance_size_prefiltered
=
40
[
default
=
3.0
];
optional
float
min_instance_size_prefiltered_image
=
41
[
default
=
20.0
];
optional
float
max_size_to_fit_straight_line
=
42
[
default
=
10.0
];
optional
float
max_size_to_fit_straight_line_image
=
43
[
default
=
300.0
];
optional
float
online_pitch_angle
=
44
[
default
=
-
2.5
];
optional
float
ground_height
=
45
[
default
=
1.6
];
optional
float
max_distance_to_see_for_transformer
=
46
[
default
=
500.0
];
optional
float
lane_map_scale
=
47
[
default
=
2.0
];
optional
int32
start_y_pos
=
48
[
default
=
312
];
optional
int32
lane_map_width
=
49
[
default
=
960
];
optional
int32
lane_map_height
=
50
[
default
=
384
];
}
modules/perception/proto/low_object_filter_config.proto
浏览文件 @
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...
@@ -3,8 +3,8 @@ syntax = "proto2";
package
apollo
.
perception.low_object_filter_config
;
message
ModelConfigs
{
optional
string
name
=
1
[
default
=
"LowObjectFilter"
];
optional
string
version
=
2
[
default
=
"1.0.0"
];
optional
double
object_height_threshold
=
3
[
default
=
0.10
];
optional
double
object_position_height_threshold
=
4
[
default
=
-
1.6
];
optional
string
name
=
1
[
default
=
"LowObjectFilter"
];
optional
string
version
=
2
[
default
=
"1.0.0"
];
optional
double
object_height_threshold
=
3
[
default
=
0.10
];
optional
double
object_position_height_threshold
=
4
[
default
=
-
1.6
];
}
modules/perception/proto/modest_radar_detector_config.proto
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modules/perception/proto/perception_map_roi.proto
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...
...
@@ -9,7 +9,7 @@ import "modules/map/proto/map.proto";
// Will be deprecated once the HOI map is ready.
// Next id: 9
message
PerceptionMapROI
{
optional
apollo.common.Header
header
=
1
;
// Header.
optional
apollo.common.Header
header
=
1
;
// Header.
optional
apollo.hdmap.Header
hdmap_header
=
8
;
// HDMap header.
// Minimum x and y values in the map.
...
...
@@ -17,8 +17,8 @@ message PerceptionMapROI {
optional
double
origin_y
=
3
;
// Partition the map into cells of grid.
optional
double
grid_size
=
4
;
// in meters.
optional
int32
num_rows
=
5
;
// respect to x.
optional
double
grid_size
=
4
;
// in meters.
optional
int32
num_rows
=
5
;
// respect to x.
optional
int32
num_columns
=
6
;
// respect to y.
// ROI regions on the grid.
...
...
modules/perception/proto/perception_obstacle.proto
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modules/perception/proto/perception_ultrasonic.proto
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...
...
@@ -6,13 +6,13 @@ import "modules/common/proto/header.proto";
import
"modules/common/proto/geometry.proto"
;
message
ImpendingCollisionEdge
{
optional
int32
id
=
1
;
// edge ID.
repeated
int32
cone_id_list
=
2
;
// cone ID.
repeated
apollo.common.Point3D
point
=
3
;
optional
double
tracking_time
=
4
;
// tracking time since detected in s
optional
int32
id
=
1
;
// edge ID.
repeated
int32
cone_id_list
=
2
;
// cone ID.
repeated
apollo.common.Point3D
point
=
3
;
optional
double
tracking_time
=
4
;
// tracking time since detected in s
}
message
ImpendingCollisionEdges
{
repeated
ImpendingCollisionEdge
impending_collision_edge
=
1
;
// obstacles
optional
apollo.common.Header
header
=
2
;
// Header
repeated
ImpendingCollisionEdge
impending_collision_edge
=
1
;
// obstacles
optional
apollo.common.Header
header
=
2
;
// Header
}
modules/perception/proto/probabilistic_fusion_config.proto
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