Robotics Systems Types

package rst.vision;

option java_outer_classname = "ImageDimensionType";

/**
 * The dimension of a rasterised image.
 *
 * @author Viktor Richter <vrichter@techfak.uni-bielefeld.de>
 */
message ImageDimension {

    /** 
     * The number of pixels in each row of the image.
     */
    // @unit(pixel)
    required uint32 width = 1;

    /** 
     * The number of pixels in each column of the image.
     */
    // @unit(pixel)
    required uint32 height = 2;

}

package rst.vision;

option java_outer_classname = "EncodedImageType";

/**
 * An image encoded in a certain format.
 *
 * @author Viktor Richter <vrichter@techfak.uni-bielefeld.de>
 */
message EncodedImage {

    /**
     * Identifies an image/file encoding format.
     */
    enum Encoding {

        /**
         * Portable Pixmap Format.
         *
         * An open uncompressed image file format.
         * @see https://en.wikipedia.org/wiki/Netpbm_format
         */
        PPM = 1;

        /**
         * Portable Network Graphics format (ISO/IEC 15948).
         *
         * An open lossless compressed image file format.
         * @see https://en.wikipedia.org/wiki/Portable_Network_Graphics
         */
        PNG = 2;

        /**
         * Also known as JPEG (ISO/IEC 10918).
         *
         * An image file format with adjustable lossy compression
         * created by the Joint Photographic Experts Group. The
         * compression is based on the discrete cosine transform.
         * @see https://en.wikipedia.org/wiki/JPEG
         */
        JPG = 3;

        /**
         * Also known as JPEG2000 (ISO/IEC 15444).
         *
         * An image file format with adjustable lossy compression
         * created by the Joint Photographic Experts Group. This
         * format superseeds JPG and can use discrete cosine transform
         * or wavelet based methods for compression.
         * @see https://en.wikipedia.org/wiki/JPEG_2000
         */
        JP2 = 4;

        /**
         * Tagged Image File Format.
         *
         * A computer file format for raster graphics developed by
         * adobe.
         * @see https://en.wikipedia.org/wiki/Tagged_Image_File_Format
         */
        TIFF = 5;
    }

    /**
     * The encoding used to encode an image into binary data.
     */
    required Encoding encoding = 2;

    /**
     * Holds the binary image data.
     *
     * Can be decoded using the provided encoding information.
     */
    required bytes data = 1;

}