Robotics Systems Types

package rst.vision;

import "rst/vision/Face.proto";

import "rst/geometry/Translation.proto";

import "rst/geometry/Rotation.proto";

option java_outer_classname = "LocatedFaceType";

/**

 * This type extends the regular Face type with a 3D location.

 *

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

 */

message LocatedFace {

    /**

     * The face as a part of an image.

     */

    required vision.Face face = 1;

    /**

     * The 3d location of the face.

     */

    optional geometry.Translation location = 2;

    /**

     * The 3d orientation of the face. The provided rotation should be passed

     * as a relative rotation from the default pose when the person looks

     * straight ahead. In this case the axes of the corresponding coordinate

     * system are defined as follows:

     *

     * * x axis: points in the direction of the person's view

     * * y axis: points to the person's right side

     * * z axis: points downwards

     */

    optional geometry.Rotation orientation = 3;

}