object.proto

syntax = "proto3";

package xeno.pursuit.proto;

// option cc_api_version = 2;
// option java_api_version = 2;

message KeyPoint {
  // The position of the keypoint in the local coordinate system of the rigid
  // object.
  float x = 1;
  float y = 2;
  float z = 3;

  // Sphere around the keypoint, indiciating annotator's confidence of the
  // position in meters.
  float confidence_radius = 4;

  // The name of the keypoint (e.g. legs, head, etc.).
  // Does not have to be unique.
  string name = 5;

  // Indicates whether the keypoint is hidden or not.
  bool hidden = 6;
}

message Object {
  // Unique object id through a sequence. There might be multiple objects of
  // the same label in this sequence.
  int32 id = 1;

  // Describes what category an object is. E.g. object class, attribute,
  // instance or person identity. This provides additional context for the
  // object type.
  string category = 2;

  enum Type {
    UNDEFINED_TYPE = 0;
    BOUNDING_BOX = 1;
    SKELETON = 2;
    MESH = 3;
  }

  Type type = 3;

  // 3x3 row-major rotation matrix describing the orientation of the rigid
  // object's frame of reference in the world-coordinate system.
  repeated float rotation = 4;

  // 3x1 vector describing the translation of the rigid object's frame of
  // reference in the world-coordinate system in meters.
  repeated float translation = 5;

  // 3x1 vector describing the scale of the rigid object's frame of reference in
  // the world-coordinate system in meters.
  repeated float scale = 6;

  // List of all the key points associated with this object in the object
  // coordinate system.
  // The first keypoint is always the object's frame of reference,
  // e.g. the centroid of the box.
  // E.g. bounding box with its center as frame of reference, the 9 keypoints :
  // {0., 0., 0.},
  // {-.5, -.5, -.5}, {-.5, -.5, +.5}, {-.5, +.5, -.5}, {-.5, +.5, +.5},
  // {+.5, -.5, -.5}, {+.5, -.5, +.5}, {+.5, +.5, -.5}, {+.5, +.5, +.5}
  // To get the bounding box in the world-coordinate system, we first scale the
  // box then transform the scaled box.
  // For example, bounding box in the world coordinate system is
  // rotation * scale * keypoints + translation
  repeated KeyPoint keypoints = 7;

  // Enum to reflect how this object is created.
  enum Method {
    UNKNOWN_METHOD = 0;
    ANNOTATION = 1;    // Created by data annotation.
    AUGMENTATION = 2;  // Created by data augmentation.
  }
  Method method = 8;
}

// The edge connecting two keypoints together
message Edge {
  // keypoint id of the edge's source
  int32 source = 1;

  // keypoint id of the edge's sink
  int32 sink = 2;
}

// The skeleton template for different objects (e.g. humans, chairs, hands, etc)
// The annotation tool reads the skeleton template dictionary.
message Skeleton {
  // The origin keypoint in the object coordinate system. (i.e. Point 0, 0, 0)
  int32 reference_keypoint = 1;

  // The skeleton's category (e.g. human, chair, hand.). Should be unique in the
  // dictionary.
  string category = 2;

  // Initialization value for all the keypoints in the skeleton in the object's
  // local coordinate system. Pursuit will transform these points using object's
  // transformation to get the keypoint in the world-cooridnate.
  repeated KeyPoint keypoints = 3;

  // List of edges connecting keypoints
  repeated Edge edges = 4;
}

// The list of all the modeled skeletons in our library. These models can be
// objects (chairs, desks, etc), humans (full pose, hands, faces, etc), or box.
// We can have multiple skeletons in the same file.
message Skeletons {
  repeated Skeleton object = 1;
}