add lane_graph.proto

modules/prediction/proto/BUILD

@@ -14,6 +14,15 @@ cc_proto_library(
     ],
 )
 
+cc_proto_library(
+    name = "lane_graph_proto",
+    protos = [
+        "lane_graph.proto",
+    ],
+    deps = [
+    ],
+)
+
 py_proto_compile(
     name = "prediction_proto_pylib",
     protos = [

modules/prediction/proto/lane_graph.proto

+syntax = "proto2";
+
+package apollo.prediction;
+
+message Vec3d {
+    optional double x = 1 [default = 0.0];
+    optional double y = 2 [default = 0.0];
+    optional double z = 3 [default = 0.0];
+}
+
+message LanePoint {
+    optional Vec3d position = 1;
+    optional double heading = 2 [default = 0.0];
+    optional double width = 3 [default = 0.0];
+    optional double relative_s = 4 [default = 0.0];
+    optional double relative_l = 5 [default = 0.0];
+    optional double angle_diff = 6 [default = 0.0];
+}
+
+message LaneSegment {
+    optional string lane_id = 1;
+    optional double start_s = 2 [default = 0.0];
+    optional double end_s = 3 [default = 0.0];
+    optional uint32 lane_turn_type = 4 [default = 0];
+    repeated LanePoint lane_point = 5;
+}
+
+message NearbyObstacle {
+    optional int32 id = 1;
+    optional double s = 2;
+}
+
+message LaneSequence {
+    repeated LaneSegment lane_segment = 1;
+    repeated NearbyObstacle nearby_obstacle = 2;
+    repeated double features = 3;
+    optional int32 label = 4 [default = 0];
+    optional double probability = 5 [default = 0.0];
+}
+
+message LaneGraph {
+    repeated LaneSequence lane_sequence = 1;
+}