type.proto

syntax = "proto3";

import "google/protobuf/timestamp.proto";
import "sensr_proto/global_type.proto";

package sensr_proto;

option cc_enable_arenas = true;

enum LabelType {
  LABEL_NONE = 0;
  LABEL_CAR = 1;
  LABEL_PEDESTRIAN = 2;
  LABEL_CYCLIST = 3;
  LABEL_MISC = 4;
  LABEL_GROUND = 5;
  LABEL_GATE = 6;
  LABEL_MAX = 7;
}

enum ZoneType {
  ZONE_TYPE_NONE = 0;
  ZONE_TYPE_EVENT = 1;
  ZONE_TYPE_EXCLUSION = 2;
  ZONE_TYPE_REFLECTION = 3;
  ZONE_TYPE_GATE = 4;
  ZONE_TYPE_STATIC = 5;
  ZONE_TYPE_MAP_EXCLUSION = 6;
  ZONE_TYPE_BACKGROUND_REMOVAL = 7;
}

enum TrackingStatus {
  NONE = 0;
  VALIDATING = 1; // Checking validity in the early stage of tracking
  INVALIDATING = 2; // Short term prediction when tracking is lost in VALIDATING status
  TRACKING = 3; // Stable tracking
  DRIFTING = 4; // Short term prediction when tracking is lost in TRACKING status
  EXPIRED = 5; // Expired tracking
};


message BoundingBox {
  Vector3 position = 1;
  Vector3 size = 2;
  float yaw = 3;
}

message PolygonBox {
  repeated Vector2 points = 1;
  float min_z = 2;
  float max_z = 3;
}

message History {
  message State {
    Vector3 position = 1;
    google.protobuf.Timestamp timestamp = 2;
  }
  reserved 1; // Reserved by backward compatibility.
  repeated State states = 2;
}

message Prediction {
  message ReachableSet {
    float t_offset = 1;
    PolygonBox space = 2;
  }
  repeated Vector3 positions = 1;
  repeated ReachableSet reachable_set = 2;
}

message Object {
  reserved 7, 9;
  int32 id = 1;
  LabelType label = 2;
  float confidence = 3;
  BoundingBox bbox = 4;
  Vector3 velocity = 5;
  TrackingStatus tracking_status = 6;
  float yaw_rate = 8;
  bool retro_reflective = 10;
  google.protobuf.Timestamp last_observed_timestamp = 11;
  bool is_static = 12;
  bytes points = 101;           // Data type of points is Vector3f(12bytes). When you parsing this data, please be aware of this.
  History history = 102;
  Prediction prediction = 103;
  repeated int32 zone_ids = 104;
  bytes intensities = 105;      // Data type of intensities is float(4bytes). When you parsing this data, please be aware of this.

}

message ProfilingResult {
  message Characteristic {
    oneof member_oneof {
      int64 integer_number = 1;
      double decimal_number = 2;
      string text = 3;
    }
  }
  map<string, uint64> processing_times = 1;
  map<string, uint64> mem_usages = 2;
  map<string, Characteristic> characteristics = 101;
}