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 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 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 coordinate_frame = 1 [default = CAMERA_IMAGE_FRAME];

    /**

     * TODO

     */

    required 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.

     */

    // @constraint(value > 0)

    // @unit(radian)

    required float horizontal_aov = 1;

    /**

     * An angle defining the vertical bounds of the FOV.

     */

    // @constraint(value > 0)

    // @unit(radian)

    required float vertical_aov = 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>

 */

// @constraint(.maximal_distance > .minimal_distance)

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.

     */

    // @constraint(value > 0)

    // @unit(meter)

    optional float minimal_distance = 3 [default = 0];

    /**

     * The maximal perceivable distance.

     */

    // @constraint(value > 0)

    // @unit(meter)

    optional float maximal_distance = 4 [default = 99999];

    /**

     * The angular difference between the individual pixels in the

     * image

     */

    // @constraint(value > 0)

    // @unit(radian)

    optional float angular_resolution_x = 5 [default = 0];

    /**

     * The angular difference between the individual pixels in the

     * image

     */

    // @constraint(value > 0)

    // @unit(radian)

    optional float angular_resolution_y = 6 [default = 0];

}

package rst.vision;

import "rst/geometry/Frustum.proto";

import "rst/vision/SimpleXYZImage.proto";

option java_outer_classname = "LocatedXYZImageType";

/**

 * A simple point cloud 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 geometry.Frustum camera = 1;

    /**

     * The background model.

     */

    required vision.SimpleXYZImage image = 2;

}