自动驾驶云服务 OCTOPUS-消息topic格式示例:Predicted_objects

时间：2024-10-30 16:07:56

自动驾驶云服务 OCTOPUS 数据包格式

Predicted_objects

stamp_secs: 1617336640
stamp_nsecs: 971891550
timestamp: 1617336640971
obstacle_info {
  obstacle_timestamp: 1617336640699
  id: 6711
  x: -123.08731842041016
  y: 486.83221435546875
  z: 0.575542688369751
  prediction_trajectory {
    path_point {
      x: -103.26817321777344
      y: 486.0815734863281
      theta: -0.007839304395020008
      v: 4.405668258666992
      relative_time: 4.5
    }
    path_point { 
      x: -102.82765197753906
      y: 486.0737609863281
      theta: -0.00746726430952549
      v: 4.405668258666992
      relative_time: 4.599999904632568
    }
	......
  }
}
obstacle_info {
  obstacle_timestamp: 1617336640699
  id: 6744
  x: -145.0320587158203
  y: 491.35015869140625
  z: -0.40381166338920593
  prediction_trajectory {
    path_point {
      x: -145.0320587158203
      y: 491.35015869140625
      theta: -2.9442124366760254
      v: 1.0038001537322998
    }
    path_point {
      x: -145.1304931640625
      y: 491.3304748535156
      theta: -2.9442124366760254
      v: 1.0038001537322998
      relative_time: 0.10000000149011612
    }
	......
  }
}
obstacle_info {
  obstacle_timestamp: 1617336640699
  id: 6760
  x: -138.3047332763672
  y: 489.9286193847656
  z: -0.12651222944259644
}

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