Obstacle_msgs

Obstacle_msgs package contains all the necessary characterists of a batch of objects including geometrical and physical information.

• MapInfo.msg

  For each frame, Cubicle Detection package generates some obstacles based on visual observation. These obstacles are converted into a custom ROS message called obstacle_msgs::MapInfo. It has a strucuter as follows:

Type	Name	Remarks
Header	ROS header
float32	pitch	Road slope angle
uint32	num	Num of obstacles
uint32	num_lane	Num of lanes
obs[]	obsData	Obstacle array
plane[]	laneData	Lane data array
plane[]	curbData	Curb data array

• obs.msg

  In MapInfo.msg, the type obs has strucuture like this:

Type	Name	Remarks
uint64	identityID	Unique ID for each object
uint64	counter	Frame ID on which object | was detected
point3	rotation	3D bounding box roll, pitch, yaw (radian)
point3	centerPos	3D bounding box center position (meter)
float32	diameter	size in x direction (meter)
float32	height	size in y direction (meter)
float32[]	histogram	HOG features inside object
string	classes	Semantic category of object
float32	probability	Confidence of belonging to this class
uint32	xmin	2D bounding box coordinate
uint32	ymin	2D bounding box coordinate
uint32	xmax	2D bounding box coordinate
uint32	ymax	2D bounding box coordinate
point3	vertex_min	Not used.
point3	vertex_max	Not used.

where point3 is a 3-element vector that consists of float32.

• plane.msg

  In MapInfo.msg, the type plane has strucuture like this:

Type	Name	Remarks
string	classes	Category of the plane (lane, curb, etc)
point3[]	pointData	Points belonging to the plane