Robotics Systems Types

package rst.classification;

import "rst/geometry/BoundingBox.proto";

import "rst/classification/ClassificationResult.proto";

option java_outer_classname = "ClassifiedRegion2DType";

/**

 * Focus on image coordinate systems (vision-based).

 *

 * A image region with a classification result.

 *

 * @author Leon Ziegler <lziegler@techfak.uni-bielefeld.de>

 */

message ClassifiedRegion2D {

    /**

     * Region in the input image.

     */

    optional geometry.BoundingBox region = 1;

	/**

	 * The class represented by the image region.

	 */

    optional classification.ClassificationResult result = 2;

}

package rst.classification;

import "rst/geometry/BoundingBox3DFloat.proto";

import "rst/classification/ClassificationResult.proto";

option java_outer_classname = "ClassifiedRegion3DType";

/**

 * Focus on image coordinate systems (vision-based).

 *

 * A region in 3D space with a classification result.

 *

 * @author Leon Ziegler <lziegler@techfak.uni-bielefeld.de>

 */

message ClassifiedRegion3D {

    /**

     * Region in 3D space.

     */

    optional geometry.BoundingBox3DFloat region = 1;

	/**

	 * The class represented by the 3D region.

	 */

    optional classification.ClassificationResult result = 2;

}

package rst.geometry;

import "rst/geometry/Pose.proto";

option java_outer_classname = "CameraPoseType";

/**

 * Pose of a camera with semantic annotation of the axes.

 * @todo "extend explanation"

 *

 * @author Leon Ziegler <lziegler@techfak.uni-bielefeld.de>

 */

message CameraPose {

    /**

    * Semantic annotation of the axes. (all right-handed)

    */

    enum CoordinateFrame {

    	/**

    	 * X: right - Y: down - Z: forward (depth axis)

    	 */

	    CAMERA_IMAGE_FRAME = 0;

	    /**

    	 * X: up - Y: right - Z: forward (depth axis)

    	 */

	    CAMERA_X_UP_FRAME = 1;

	    /**

    	 * X: left - Y: up - Z: forward (depth axis)

    	 */

	    CAMERA_Y_UP_FRAME = 2;

	    /**

    	 * X: forward (depth axis) - Y: left - Z: up

    	 */

	    LASER_FRAME = 3;

	    /**

    	 * X: right - Y: up - Z: towards viewer (negative depth axis)

    	 */

	    SCREEN_FRAME = 4;

	}

	/**

	 * Annotation of the axes.

	 */

	optional CoordinateFrame coordinateFrame = 1 [default = CAMERA_IMAGE_FRAME];

    /**

     * TODO

     */

    required rst.geometry.Pose pose = 2;

}

package rst.geometry;

option java_outer_classname = "FieldOfViewType";

/**

 * The field of view of a sensor.

 * @todo "extend explanation"

 *

 * @author Leon Ziegler <lziegler@techfak.uni-bielefeld.de>

 */

message FieldOfView {

	/**

	 * An angle defining the horizontal bounds of the FOV.

	 */

	// @unit(radian)

	required float horizontalAOV = 1;

	/**

	 * An angle defining the vertical bounds of the FOV.

	 */

	// @unit(radian)

	required float verticalAOV = 2;

}

package rst.geometry;

import "rst/geometry/CameraPose.proto";

import "rst/geometry/FieldOfView.proto";

option java_outer_classname = "FrustumType";

/**

 * A camera's view frustum.

 *

 * @author Leon Ziegler <lziegler@techfak.uni-bielefeld.de>

 */

message Frustum {

    /**

     * Origin of the frustum.

     */

    required CameraPose camera = 1;

	/**

	 * The field of view of the frustum.

	 */

	required FieldOfView fov = 2;

	/**

	 * The minimal perceivable distance.

	 */

	// @unit(meter)

	optional float minDist = 3 [default = 0];

	/**

	 * The maximal perceivable distance.

	 */

	// @unit(meter)

	optional float maxDist = 4 [default = 99999];

	/**

	 * The angular difference between the individual pixels in the image

	 */

	// @unit(radian)

	optional float angularResolutionX = 5 [default = 0];

	/**

	 * The angular difference between the individual pixels in the image

	 */

	// @unit(radian)

	optional float angularResolutionY = 6 [default = 0];

}

package rst.vision;

import "rst/geometry/Frustum.proto";

import "rst/vision/SimpleXYZImage.proto";

option java_outer_classname = "LocatedXYZImageType";

/**

 * A simple pointcloud represented in 2D structure with information from where it was taken.

 *

 * @author Leon Ziegler <lziegler@techfak.uni-bielefeld.de>

 */

message LocatedXYZImage {

    /**

     * The camera's frustum.

     */

    required rst.geometry.Frustum camera = 1;

	/**

     * The background model.

     */

    required rst.vision.SimpleXYZImage image = 2;

}