traffic_light_pb2.proto

syntax = "proto3";

package trafficLightVis;  // Replace with your actual package name

message Header {
  // Message publishing time in seconds.
  double timestamp_sec = 1;

  // Module name.
  string module_name = 2;

  // Sequence number for each message. Each module maintains its own counter for
  // sequence_num, always starting from 1 on boot.
  uint32 sequence_num = 3;

  // Lidar Sensor timestamp for nano-second.
  uint64 lidar_timestamp = 4;

  // Camera Sensor timestamp for nano-second.
  uint64 camera_timestamp = 5;

  // Radar Sensor timestamp for nano-second.
  uint64 radar_timestamp = 6;

  string frame_id = 9;
}

message TrafficLightBox {
  int32 x = 1;
  int32 y = 2;
  int32 width = 3;
  int32 height = 4;
  TrafficLight.Color color = 5;
  bool selected = 6;
  string camera_name = 7;
}

message TrafficLightDebug {
  TrafficLightBox cropbox = 1;
  repeated TrafficLightBox box = 2;
  int32 signal_num = 3;
  int32 valid_pos = 4;
  double ts_diff_pos = 5;
  double ts_diff_sys = 6;
  int32 project_error = 7;
  double distance_to_stop_line = 8;
  int32 camera_id = 9 [deprecated = true];
  repeated TrafficLightBox crop_roi = 10;
  repeated TrafficLightBox projected_roi = 11;
  repeated TrafficLightBox rectified_roi = 12;
  repeated TrafficLightBox debug_roi = 13;
}

message TrafficLight {
  enum Color {
    UNKNOWN = 0;
    RED = 1;
    YELLOW = 2;
    GREEN = 3;
    BLACK = 4;
  }
  Color color = 1;
  string id = 2;
  double confidence = 3;
  double tracking_time = 4;
  bool blink = 5;
  double remaining_time = 6;
}

message TrafficLightDetection {
  // Import the Header message if not defined in this .proto file
  // import "header.proto";

  repeated TrafficLight traffic_light = 1;
  Header header = 2;
  TrafficLightDebug traffic_light_debug = 3;

  bool contain_lights = 4;
  enum CameraID {
    CAMERA_FRONT_LONG = 0;
    CAMERA_FRONT_NARROW = 1;
    CAMERA_FRONT_SHORT = 2;
    CAMERA_FRONT_WIDE = 3;
  }
  CameraID camera_id = 5;

}