Perception: add confidence type, lidar and radar confidence (#1881)

* Perception: add confidence type, lidar and radar confidence

* Perception: change unknown to 0

modules/perception/obstacle/base/object.cc

@@ -118,6 +118,8 @@ void Object::Serialize(PerceptionObstacle* pb_obj) const {
   }
 
   pb_obj->set_confidence(score);
+  pb_obj->set_confidence_type(
+    static_cast<PerceptionObstacle::ConfidenceType>(score_type));
   pb_obj->set_tracking_time(tracking_time);
   pb_obj->set_type(static_cast<PerceptionObstacle::Type>(type));
   pb_obj->set_timestamp(latest_tracked_time);  // in seconds.
@@ -150,6 +152,7 @@ void Object::Deserialize(const PerceptionObstacle& pb_obs) {
   }
 
   score = pb_obs.confidence();
+  score_type = static_cast<ScoreType>(pb_obs.confidence_type());
   tracking_time = pb_obs.tracking_time();
   latest_tracked_time = pb_obs.timestamp();
   type = static_cast<ObjectType>(pb_obs.type());

modules/perception/obstacle/base/object.h

@@ -65,6 +65,8 @@ struct alignas(16) Object {
 
   // foreground score/probability
   float score = 0.0;
+  // foreground score/probability type
+  ScoreType score_type = SCORE_CNN;
 
   // Object classification type.
   ObjectType type;

modules/perception/obstacle/base/types.h

@@ -42,6 +42,12 @@ enum SensorType {
   UNKNOWN_SENSOR_TYPE = 10,
 };
 
+enum ScoreType {
+  UNKNOWN_SCORE_TYPE = 0,
+  SCORE_CNN = 1,
+  SCORE_RADAR = 2,
+};
+
 typedef pcl_util::PointCloud PolygonType;
 typedef pcl_util::PointDCloud PolygonDType;
 

modules/perception/obstacle/lidar/segmentation/cnnseg/cluster2d.h

@@ -264,6 +264,7 @@ class Cluster2D {
       apollo::perception::ObjectPtr out_obj(new apollo::perception::Object);
       out_obj->cloud = obs->cloud;
       out_obj->score = obs->score;
+      out_obj->score_type = SCORE_CNN;
       out_obj->type = GetObjectType(obs->meta_type);
       out_obj->type_probs = GetObjectTypeProbs(obs->meta_type_probs);
       objects->push_back(out_obj);

modules/perception/obstacle/radar/modest/object_builder.cc

@@ -85,6 +85,9 @@ void ObjectBuilder::Build(const ContiRadar &raw_obstacles,
     object_ptr->width = 1.0;
     object_ptr->height = 1.0;
     object_ptr->type = UNKNOWN;
+    object_ptr->score_type = SCORE_RADAR;
+    object_ptr->score = static_cast<float>(
+        raw_obstacles.contiobs(i).probexist());
 
     Eigen::Matrix3d dist_rms;
     Eigen::Matrix3d vel_rms;

modules/perception/proto/perception_obstacle.proto

@@ -44,6 +44,12 @@ message PerceptionObstacle {
   repeated double point_cloud = 12 [packed = true];
 
   optional double confidence = 13 [default = 1.0];
+  enum ConfidenceType {
+      CONFIDENCE_UNKNOWN = 0;
+      CONFIDENCE_CNN = 1;
+      CONFIDENCE_RADAR = 2;
+  };
+  optional ConfidenceType confidence_type = 14 [default = CONFIDENCE_CNN];
 }
 
 message PerceptionObstacles {