std_msgs/Header                 header

uint32                          id
string                          label
uint8                           type   # 0--car, 1--truck, 2--pedestrian, 3--cyclist, 4--unknown
float32                         score   
std_msgs/ColorRGBA              color   # Define this object specific color
bool                            valid   # Defines if this object is valid, or invalid as defined by the filtering


geometry_msgs/Pose              pose
geometry_msgs/Pose              tracked_pose
geometry_msgs/Pose              output_pose
float32                         yaw
geometry_msgs/Vector3           dimensions
geometry_msgs/Twist             velocity
geometry_msgs/Twist             acceleration

float32                         angle       # Angle [0 to 2*PI), allow rotated rects
############### Behavior State of the Detected Object
uint8                           behavior_state # FORWARD_STATE = 0, STOPPING_STATE = 1, BRANCH_LEFT_STATE = 2, BRANCH_RIGHT_STATE = 3, YIELDING_STATE = 4, ACCELERATING_STATE = 5, SLOWDOWN_STATE = 6

uint32                          age
uint8                           velocitystatus  # speed confidence  0--low, 1--normal, 2--high
float32                         confidence    # confidence of obstacle

sensor_msgs/PointCloud2         pointcloud
perception_msgs/ObstacleCell[]  cells
geometry_msgs/PolygonStamped    convex_hull

bool                            pose_reliable
bool                            velocity_reliable
bool                            acceleration_reliable