syntax = "proto2";

package iv.lidar;

message PointXYZI {
  optional float x = 1 [default = nan];
  optional float y = 2 [default = nan];
  optional float z = 3 [default = nan];
  optional float i = 4 [default = 0];
};

message PointXYZ {
  optional float x = 1 [default = nan];
  optional float y = 2 [default = nan];
  optional float z = 3 [default = nan];
};

message Dimension {
  optional float x = 1 [default = 0];
  optional float y = 2 [default = 0];
  optional float z = 3 [default = 0];
};

message VelXY {
  optional float x =1 [default = 0];
  optional float y =2 [default = 0];
};

message lidarobject
{
  optional PointXYZ min_point = 1;
  optional PointXYZ max_point = 2;
  optional PointXYZ centroid = 3;
  optional Dimension dimensions = 4;
  optional PointXYZ position = 5;
  optional double angle =6;
  optional double velocity_linear_x = 7;
  optional double acceleration_linear_y = 8;
  optional double timestamp = 9;
  optional double tyaw = 10;
  required int32 mnType = 11;
  optional int32 id = 12;
  optional int32 behavior_state = 13;
  optional float score = 14;
  optional bool velocity_reliable = 15;
  optional bool pose_reliable = 16;
  repeated float type_probs = 17;
  repeated PointXYZI cloud = 18;
  optional string type_name = 19;
  optional VelXY vel_relative = 20; //相对速度
};