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.

 *

 * The pure transformation of the camera's pose (in terms of coordinate systems) 

 * does not provide information about the viewing direction. There must be a convention

 * about the semantic meaning of the transformation in order to convey the information

 * about where the camera actually looks. The enum coordinate_frame realizes this 

 * convention by describing the three axes of the camera's coordinate system 

 * semantically including viewing direction and up direction.

 *

 * @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];

    /**

     * The pose of the camera's coordinate system in 3d space relative to a

     * given parent coordinate system. 

     */

    required geometry.Pose pose = 2;

}

package rst.geometry;

option java_outer_classname = "FieldOfViewType";

/**

 * The field of view of a sensor.

 *

 * The sensor's FOV is defined the angular extent of a scene that 

 * is imaged by a visual sensor. The most outer observable ray that

 * falls in a sensor's FOV has the angular distance +/- AOV/2.0 from

 * the optical axis in the respective extend (vertical/horizontal).

 * The angles are given in radian.

 *

 * @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/FieldOfView.proto";

option java_outer_classname = "ViewFrustumType";

/**

 * A camera's view frustum.

 * 

 * This type adds information about the maximal and minimal perceivable

 * distance from the sensor to the definition of the Field of View.

 * 

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

 */

// @constraint(.maximal_distance > .minimal_distance)

message ViewFrustum {

    /**

     * The field of view of the frustum.

     */

    required FieldOfView fov = 1;

    /**

     * The minimal perceivable distance.

     */

    // @constraint(value > 0)

    // @unit(meter)

    optional float minimal_distance = 2 [default = 0];

    /**

     * The maximal perceivable distance.

     */

    // @constraint(value > 0)

    // @unit(meter)

    optional float maximal_distance = 3 [default = 99999];

}

package rst.vision;

import "rst/geometry/ViewFrustum.proto";

import "rst/geometry/CameraPose.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.

 * 

 * By adding information about the pose of the camera and its perceived view

 * frustum, one can reconstruct the location and the circumstances under which

 * the provided point cloud was captured.

 *

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

 */

message LocatedXYZImage {

    /**

     * The background model.

     */

    required vision.SimpleXYZImage image = 1;

    /**

     * The camera's pose in 3d space.

     */

    required geometry.CameraPose camera = 2;

    /**

     * The camera's view frustum.

     */

    required geometry.ViewFrustum frustum = 3;

}