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- std_msgs/Header header
- uint32 id
- string label
- float32 score #Score as defined by the detection, Optional
- std_msgs/ColorRGBA color # Define this object specific color
- bool valid # Defines if this object is valid, or invalid as defined by the filtering
- ################ 3D BB
- string space_frame #3D Space coordinate frame of the object, required if pose and dimensions are defines
- geometry_msgs/Pose pose
- geometry_msgs/Vector3 dimensions
- geometry_msgs/Vector3 variance
- geometry_msgs/Twist velocity
- geometry_msgs/Twist acceleration
- sensor_msgs/PointCloud2 pointcloud
- geometry_msgs/PolygonStamped convex_hull
- LaneArray candidate_trajectories
- bool pose_reliable
- bool velocity_reliable
- bool acceleration_reliable
- bool is_static
- int32 corner_index
- ############### 2D Rect
- string image_frame # Image coordinate Frame, Required if x,y,w,h defined
- int32 x # X coord in image space(pixel) of the initial point of the Rect
- int32 y # Y coord in image space(pixel) of the initial point of the Rect
- int32 width # Width of the Rect in pixels
- int32 height # Height of the Rect in pixels
- float32 angle # Angle [0 to 2*PI), allow rotated rects
- sensor_msgs/Image roi_image
- ############### Indicator information
- uint8 indicator_state # INDICATOR_LEFT = 0, INDICATOR_RIGHT = 1, INDICATOR_BOTH = 2, INDICATOR_NONE = 3
- ############### 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
- #
- string[] user_defined_info
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