schema: add KeyPoint3D, KeyLine3D, Polygon3D (#101)

- add 3D equivalents in Cartesian coordinates in sensor space for KeyPoint2D, KeyLine2D and Polygon2D on the image plane respectively. Co-authored-by: Nisse Knudsen <[email protected]> Co-authored-by: Nehal Mamgain <[email protected]>
TRI-ML · Aug 4, 2022 · 0795b94 · 0795b94
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commit 0795b94
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diff --git a/dgp/proto/annotations.proto b/dgp/proto/annotations.proto
@@ -70,6 +70,15 @@ enum AnnotationType {
   // Classification.
   // (i.e. imagenet classification label)
   CLASSIFICATION = 15;             // classification
+
+  // 3D Key Point in sensor space
+  KEY_POINT_3D = 16;               // key_point_3d
+
+  // 3D Key Line in sensor space
+  KEY_LINE_3D = 17;                // key_line_3d
+
+  // 3D Polygon in sensor space
+  POLYGON_3D = 18;                 // polygon_3d
 }
 
 // 2D bounding box
@@ -105,17 +114,18 @@ message BoundingBox2DAnnotation {
   // Instance identifier
   uint32 instance_id = 5;
 
-  // An associative map stores arbitrary attributes, where the key is attribute name
-  // and the value is attribute value. Both key_type and value_type are string.
-  // This can be used to stored `agent_behavior` states (i.e., parked car, pedestrian intent).
+  // A map of attribute names to their values.
+  // This can be used to stored `agent_behavior` states (i.e., parked car, 
+  // pedestrian intent).
   map<string, string> attributes = 6;
 }
 
 // 3D bounding box
 message BoundingBox3D {
   // 3D Bounding box. Produced by first constructing a box of dimensions
   // width, length, height centered at the origin, then rotating it by the
-  // specified quaternion and finally translating the box to the center coordinate.
+  // specified quaternion and finally translating the box to the center 
+  // coordinate.
 
   // 6DoF pose of bounding 3D.
   // (Translation is the center point of the box)
@@ -138,7 +148,8 @@ message BoundingBox3D {
 
 // 3D bounding box annotation.
 message BoundingBox3DAnnotation {
-  // Class identifier. Should be in range [0, num_classes - 1].
+  // Class identifier. Should be in range [0, num_classes - 1],
+  // where num_classes is the total number of classes in your ontology.
   uint32 class_id = 1;
 
   // 3D box.
@@ -148,8 +159,7 @@ message BoundingBox3DAnnotation {
   // This needs to be unique to a scene.
   uint32 instance_id = 3;
 
-  // An associative map stores arbitrary attributes, where the key is attribute name
-  // and the value is attribute value. Both key_type and value_type are string.
+  // A map of attribute names to their values.
   map<string, string> attributes = 4;
 
   // Number of LIDAR points in the Bounding Box
@@ -166,33 +176,38 @@ message KeyPoint2D {
 
 // 2D point annotation.
 message KeyPoint2DAnnotation {
-  // Class identifier (should be in [0, num_classes - 1])
+  // Class identifier (should be in [0, num_classes - 1]),
+  // where num_classes is the total number of classes in your ontology.
   uint32 class_id = 1;
 
   // 2D point.
   KeyPoint2D point = 2;
 
-  // An associative map stores arbitrary attributes, where the key is attribute name
-  // and the value is attribute value. Both key_type and value_type are string.
+  // A map of attribute names to their values.
   map<string, string> attributes = 3;
 
-  // An identifier key. Used to link with other annotations.
+  // An identifier key. Used to link with other annotations
+  // (example: BoundingBox2D) which specify this key in their
+  // instance to link to corresponding KeyPoint2DAnnotation.
   string key = 4;
 }
 
 // 2D line annotation.
 message KeyLine2DAnnotation{
-  // Class identifier (should be in [0, num_classes - 1])
+  // Class identifier (should be in [0, num_classes - 1]),
+  // where num_classes is the total number of classes in your ontology.
   uint32 class_id = 1;
 
   // 2D line.
   repeated KeyPoint2D vertices = 2;
 
-  // An associative map stores arbitrary attributes, where the key is attribute name
-  // and the value is attribute value. Both key_type and value_type are string.
+  // A map of attribute names to their values.
+  // Add only key/value pairs that are stored in a project document accessible
+  // to project contributors.
   map<string, string> attributes = 3;
 
-  // An identifier key. Used to link with other annotations.
+  // An identifier key. Used to link with other annotations, which specify
+  // this key in their instance to link to corresponding KeyLine2DAnnotation.
   string key = 4;
 }
 
@@ -207,29 +222,99 @@ message PolygonPoint2D {
 
 // 2D polygon annotation.
 message Polygon2DAnnotation{
-  // Class identifier (should be in [0, num_classes - 1])
+  // Class identifier (should be in [0, num_classes - 1]),
+  // where num_classes is the total number of classes in your ontology.
   uint32 class_id = 1;
 
   // 2D polygon.
   // Points should be put into this field with counter-clockwise order.
   repeated PolygonPoint2D vertices = 2;
 
-  // An associative map stores arbitrary attributes, where the key is attribute name
-  // and the value is attribute value. Both key_type and value_type are string.
+  // A map of attribute names to their values.
   map<string, string> attributes = 3;
 }
 
 // Classification annotation.
 message ClassificationAnnotation{
-  // Class identifier (should be in [0, num_classes - 1])
+  // Class identifier (should be in [0, num_classes - 1]),
+  // where num_classes is the total number of classes in your ontology.
   uint32 class_id = 1;
 
-  // An associative map stores arbitrary attributes, where the key is attribute name
-  // and the value is attribute value. Both key_type and value_type are string.
+  // A map of attribute names to their values.
   map<string, string> attributes = 2;
 }
 
-// List of BoundingBox2DAnnotation.
+// 3D point.
+message KeyPoint3D {
+  // (x, y, z) point (in 3D Cartesian coordinates).
+  float x = 1;
+  float y = 2;
+  float z = 3;
+}
+
+// 3D point annotation.
+message KeyPoint3DAnnotation {
+  // Class identifier (should be in [0, num_classes - 1]),
+  // where num_classes is the total number of classes in your ontology.
+  uint32 class_id = 1;
+
+  // 3D point.
+  KeyPoint3D point = 2;
+
+  // A map of attribute names to their values.
+  // Add only key/value pairs that are stored in a project document accessible
+  // to project contributors.
+  map<string, string> attributes = 3;
+
+  // An identifier key. Used to link with other annotations, which specify
+  // this key in their instance to link to corresponding KeyPoint3DAnnotation.
+  string key = 4;
+}
+
+// 3D line annotation.
+message KeyLine3DAnnotation{
+  // Class identifier (should be in [0, num_classes - 1]),
+  // where num_classes is the total number of classes in your ontology.
+  uint32 class_id = 1;
+
+  // 3D line.
+  repeated KeyPoint3D vertices = 2;
+
+  // A map of attribute names to their values.
+  // Add only key/value pairs that are stored in a project document accessible
+  // to project contributors.
+  map<string, string> attributes = 3;
+
+  // An identifier key. Used to link with other annotations, which specify
+  // this key in their instance to link to corresponding KeyLine3DAnnotation.
+  string key = 4;
+}
+
+message PolygonPoint3D {
+  // (x, y, z) point (in 3D Cartesian coordinates).
+  float x = 1;
+  float y = 2;
+  float z = 3;
+}
+
+// 3D polygon annotation.
+message Polygon3DAnnotation{
+  // Class identifier (should be in [0, num_classes - 1]),
+  // where num_classes is the total number of classes in your ontology.
+  uint32 class_id = 1;
+
+  // 3D polygon.
+  // Points should be put into this field with counter-clockwise order.
+  repeated PolygonPoint3D vertices = 2;
+
+  // A map of attribute names to their values.
+  // Add only key/value pairs that are stored in a project document accessible
+  // to project contributors.
+  map<string, string> attributes = 3;
+}
+
+
+// List of BoundingBox2DAnnotation
 message BoundingBox2DAnnotations {
   repeated BoundingBox2DAnnotation annotations = 1;
 }
@@ -258,3 +343,18 @@ message Polygon2DAnnotations {
 message ClassificationAnnotations {
   repeated ClassificationAnnotation annotations = 1;
 }
+
+// List of KeyPoint3DAnnotation.
+message KeyPoint3DAnnotations {
+  repeated KeyPoint3DAnnotation annotations = 1;
+}
+
+// List of KeyLine3DAnnotation.
+message KeyLine3DAnnotations {
+  repeated KeyLine3DAnnotation annotations = 1;
+}
+
+// List of Polygon3DAnnotation.
+message Polygon3DAnnotations {
+  repeated Polygon3DAnnotation annotations = 1;
+}