日记20190408 感知层数据格式

apollo/modules/perception/proto/perception_obstacle.proto文件定义了障碍物格式

根据apollo的代码，感知层要发出去的数据包括：

message PerceptionObstacles {
  repeated PerceptionObstacle perception_obstacle = 1;  // An array of obstacles  障碍物
  optional common.Header header = 2;                    // Header  协议头？
  optional common.ErrorCode error_code = 3 [default = OK]; //错误代码
  optional LaneMarkers lane_marker = 4;//车道线
  optional CIPVInfo cipv_info = 5;  // Closest In Path Vehicle (CIPV) 最近的车辆
}

其中 PerceptionObstacle的定义为：

message PerceptionObstacle {
  optional int32 id = 1;  // obstacle ID. 

  // obstacle position in the world coordinate system.
  optional common.Point3D position = 2; //障碍物的3D位置

  optional double theta = 3;  // heading in the world coordinate system. //航向 方位
  optional common.Point3D velocity = 4;  // obstacle velocity.//速度

  // Size of obstacle bounding box. 障碍物盒子
  optional double length = 5;  // obstacle length.//长
  optional double width = 6;   // obstacle width.//宽
  optional double height = 7;  // obstacle height.//高

  repeated common.Point3D polygon_point = 8;  // obstacle corner points. 障碍角点

  // duration of an obstacle since detection in s.//观测到的障碍物的持续时间
  optional double tracking_time = 9;

  enum Type {//类型 是否移动、人、自行车、乘用车
    UNKNOWN = 0;
    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.
  };
  optional Type type = 10;         // obstacle type
  optional double timestamp = 11;  // GPS time in seconds.

  // Just for offline debugging, will not fill this field onboard.
  // Format: [x0, y0, z0, x1, y1, z1...]
  repeated double point_cloud = 12 [packed = true];

  optional double confidence = 13 [deprecated = true];
  enum ConfidenceType {//信任类型？激光雷达与摄像头，或者与毫米波雷达融合？
    CONFIDENCE_UNKNOWN = 0;
    CONFIDENCE_CNN = 1;
    CONFIDENCE_RADAR = 2;
  };
  optional ConfidenceType confidence_type = 14 [deprecated = true];
  // trajectory of object.
  repeated common.Point3D drops = 15 [deprecated = true];

  // The following fields are new added in Apollo 4.0
  optional common.Point3D acceleration = 16;  // obstacle acceleration

  // a stable obstacle point in the world coordinate system
  // position defined above is the obstacle bounding box ground center
  optional common.Point3D anchor_point = 17;
  optional BBox2D bbox2d = 18;//2D坐标点 四个点的坐标 见message BBox2D

  enum SubType {
    ST_UNKNOWN = 0;
    ST_UNKNOWN_MOVABLE = 1;
    ST_UNKNOWN_UNMOVABLE = 2;
    ST_CAR = 3;
    ST_VAN = 4;
    ST_TRUCK = 5;
    ST_BUS = 6;
    ST_CYCLIST = 7;
    ST_MOTORCYCLIST = 8;
    ST_TRICYCLIST = 9;
    ST_PEDESTRIAN = 10;
    ST_TRAFFICCONE = 11;
  };
  optional SubType sub_type = 19;  // obstacle sub_type 障碍子类型

  repeated SensorMeasurement measurements = 20;  // sensor measurements ???

  // orthogonal distance between obstacle lowest point and ground plane
  optional double height_above_ground = 21 [default = nan];//障碍物最低点与地平面之间的正交距离

  // position covariance which is a row-majored 3x3 matrix
  repeated double position_covariance = 22 [packed = true];//位置协方差
  // velocity covariance which is a row-majored 3x3 matrix
  repeated double velocity_covariance = 23 [packed = true];//速度协方差
  // acceleration covariance which is a row-majored 3x3 matrix
  repeated double acceleration_covariance = 24 [packed = true];//加速度协方差

  // lights of vehicles
  optional LightStatus light_status = 25;//灯光状态 左右转向、大灯等 见message LightStatus说明
}

 错误码，主要关注预测的错误码：

syntax = "proto2";

package apollo.common;

// Error codes enum for API's categorized by modules.
enum ErrorCode {
  // No error, returns on success.
  OK = 0;

  // Control module error codes start from here.
  CONTROL_ERROR = 1000;
  CONTROL_INIT_ERROR = 1001;
  CONTROL_COMPUTE_ERROR = 1002;

  // Canbus module error codes start from here.
  CANBUS_ERROR = 2000;
  CAN_CLIENT_ERROR_BASE = 2100;
  CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED = 2101;
  CAN_CLIENT_ERROR_FRAME_NUM = 2102;
  CAN_CLIENT_ERROR_SEND_FAILED = 2103;
  CAN_CLIENT_ERROR_RECV_FAILED = 2104;

  // Localization module error codes start from here. 
  LOCALIZATION_ERROR = 3000;
  LOCALIZATION_ERROR_MSG = 3100;
  LOCALIZATION_ERROR_LIDAR = 3200;
  LOCALIZATION_ERROR_INTEG = 3300;
  LOCALIZATION_ERROR_GNSS = 3400;

  // Perception module error codes start from here.//感知层错误码
  PERCEPTION_ERROR = 4000;//
  PERCEPTION_ERROR_TF = 4001;//坐标转换错误码
  PERCEPTION_ERROR_PROCESS = 4002;//传感器预测过程
  PERCEPTION_FATAL = 4003;
  PERCEPTION_ERROR_NONE = 4004;
  PERCEPTION_ERROR_UNKNOWN = 4005;

  // Prediction module error codes start from here.
  PREDICTION_ERROR = 5000;

  // Planning module error codes start from here
  PLANNING_ERROR = 6000;
  PLANNING_ERROR_NOT_READY = 6001;

  // HDMap module error codes start from here
  HDMAP_DATA_ERROR = 7000;

  // Routing module error codes
  ROUTING_ERROR = 8000;
  ROUTING_ERROR_REQUEST = 8001;
  ROUTING_ERROR_RESPONSE = 8002;
  ROUTING_ERROR_NOT_READY = 8003;

  // Indicates an input has been exhausted.
  END_OF_INPUT = 9000;

  // HTTP request error codes.
  HTTP_LOGIC_ERROR = 10000;
  HTTP_RUNTIME_ERROR = 10001;

  // Relative Map error codes.
  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;
}

message StatusPb {
  optional ErrorCode error_code = 1 [default = OK];
  optional string msg = 2;
}

 header:

message Header {
  // Message publishing time in seconds. It is recommended to obtain
  // timestamp_sec from ros::Time::now(), right before calling
  // SerializeToString() and publish().
  optional double timestamp_sec = 1;

  // Module name.
  optional string module_name = 2;

  // Sequence number for each message. Each module maintains its own counter for
  // sequence_num, always starting from 1 on boot.
  optional uint32 sequence_num = 3;

  // Lidar Sensor timestamp for nano-second.
  optional uint64 lidar_timestamp = 4;

  // Camera Sensor timestamp for nano-second.
  optional uint64 camera_timestamp = 5;

  // Radar Sensor timestamp for nano-second.
  optional uint64 radar_timestamp = 6;

  // data version
  optional uint32 version = 7 [default = 1];

  optional StatusPb status = 8;

  optional string frame_id = 9;
}

路标线、临近车辆

message LaneMarker {
  optional apollo.hdmap.LaneBoundaryType.Type lane_type = 1;
  optional double quality = 2;  // range = [0,1]; 1 = the best quality
  optional int32 model_degree = 3;

  // equation X = c3 * Z^3 + c2 * Z^2 + c1 * Z + c0
  optional double c0_position = 4;
  optional double c1_heading_angle = 5;
  optional double c2_curvature = 6;
  optional double c3_curvature_derivative = 7;
  optional double view_range = 8;
  optional double longitude_start = 9;
  optional double longitude_end = 10;
}

message LaneMarkers {
  optional LaneMarker left_lane_marker = 1;
  optional LaneMarker right_lane_marker = 2;
  repeated LaneMarker next_left_lane_marker = 3;
  repeated LaneMarker next_right_lane_marker = 4;
}

message CIPVInfo {
  optional int32 cipv_id = 1;
  repeated int32 potential_cipv_id = 2;
}