109 lines
3.7 KiB
Protocol Buffer
109 lines
3.7 KiB
Protocol Buffer
// Copyright 2020 The MediaPipe Authors.
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
syntax = "proto3";
|
|
|
|
package mediapipe;
|
|
|
|
import "mediapipe/modules/objectron/calculators/a_r_capture_metadata.proto";
|
|
import "mediapipe/modules/objectron/calculators/object.proto";
|
|
|
|
// Projection of a 3D point on an image, and its metric depth.
|
|
message NormalizedPoint2D {
|
|
// x-y position of the 2d keypoint in the image coordinate system.
|
|
// u,v \in [0, 1], where top left corner is (0, 0) and the bottom-right corner
|
|
// is (1, 1).
|
|
float x = 1;
|
|
float y = 2;
|
|
|
|
// The depth of the point in the camera coordinate system (in meters).
|
|
float depth = 3;
|
|
}
|
|
|
|
// The 3D point in the camera coordinate system, the scales are in meters.
|
|
message Point3D {
|
|
float x = 1;
|
|
float y = 2;
|
|
float z = 3;
|
|
}
|
|
|
|
message AnnotatedKeyPoint {
|
|
int32 id = 1;
|
|
Point3D point_3d = 2;
|
|
NormalizedPoint2D point_2d = 3;
|
|
// Indicates whether this keypoint is hidden or not. The hidden attribute is
|
|
// determined from the object's skeleton. For box model, none of the keypoints
|
|
// are hidden.
|
|
bool hidden = 4;
|
|
}
|
|
|
|
message ObjectAnnotation {
|
|
// Reference to the object identifier in ObjectInstance.
|
|
int32 object_id = 1;
|
|
|
|
// For each objects, list all the annotated keypoints here.
|
|
// E.g. for bounding-boxes, we have 8 keypoints, hands = 21 keypoints, etc.
|
|
// These normalized points are the projection of the Object's 3D keypoint
|
|
// on the current frame's camera poses.
|
|
repeated AnnotatedKeyPoint keypoints = 2;
|
|
|
|
// Visibiity of this annotation in a frame.
|
|
float visibility = 3;
|
|
|
|
// 3x3 row-major rotation matrix describing the orientation of the rigid
|
|
// object's frame of reference in the camera-coordinate system.
|
|
repeated float rotation = 4;
|
|
|
|
// 3x1 vector describing the translation of the rigid object's frame of
|
|
// reference in the camera-coordinate system in meters.
|
|
repeated float translation = 5;
|
|
|
|
// 3x1 vector describing the scale of the rigid object's frame of reference in
|
|
// the camera-coordinate system.
|
|
repeated float scale = 6;
|
|
}
|
|
|
|
message FrameAnnotation {
|
|
// Unique frame id, corresponds to images.
|
|
int32 frame_id = 1;
|
|
|
|
// List of the annotated objects in this frame. Depending on how many object
|
|
// are observable in this frame, we might have non or as much as
|
|
// sequence.objects_size() annotations.
|
|
repeated ObjectAnnotation annotations = 2;
|
|
|
|
// Information about the camera transformation (in the world coordinate) and
|
|
// imaging characteristics for a captured video frame.
|
|
ARCamera camera = 3;
|
|
|
|
// The timestamp for the frame.
|
|
double timestamp = 4;
|
|
|
|
// Plane center and normal in camera frame.
|
|
repeated float plane_center = 5;
|
|
repeated float plane_normal = 6;
|
|
}
|
|
|
|
// The sequence protocol contains the annotation data for the entire video clip.
|
|
message Sequence {
|
|
// List of all the annotated 3D objects in this sequence in the world
|
|
// Coordinate system. Given the camera poses of each frame (also in the
|
|
// world-coordinate) these objects bounding boxes can be projected to each
|
|
// frame to get the per-frame annotation (i.e. image_annotation below).
|
|
repeated Object objects = 1;
|
|
|
|
// List of annotated data per each frame in sequence + frame information.
|
|
repeated FrameAnnotation frame_annotations = 2;
|
|
}
|