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- 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
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