From 5cfabce7cf8e7373a5ac9ad41a0e529e630db9a9 Mon Sep 17 00:00:00 2001 From: Cyrille Nofficial Date: Tue, 23 Jan 2024 23:25:48 +0100 Subject: [PATCH] feat(object): add distance field --- events/events.proto | 1 + go/events/events.pb.go | 140 +++++++++++++++++++----------------- python/events/events_pb2.py | 36 +++++----- 3 files changed, 94 insertions(+), 83 deletions(-) diff --git a/events/events.proto b/events/events.proto index 69e4d73..507cd0d 100644 --- a/events/events.proto +++ b/events/events.proto @@ -72,6 +72,7 @@ message Object { float right = 4; float bottom = 5; float confidence = 6; + int64 distanceInMm = 7; } enum TypeObject { diff --git a/go/events/events.pb.go b/go/events/events.pb.go index d26cb21..db2276a 100644 --- a/go/events/events.pb.go +++ b/go/events/events.pb.go @@ -664,12 +664,13 @@ type Object struct { sizeCache protoimpl.SizeCache unknownFields protoimpl.UnknownFields - Type TypeObject `protobuf:"varint,1,opt,name=type,proto3,enum=robocar.events.TypeObject" json:"type,omitempty"` - Left float32 `protobuf:"fixed32,2,opt,name=left,proto3" json:"left,omitempty"` - Top float32 `protobuf:"fixed32,3,opt,name=top,proto3" json:"top,omitempty"` - Right float32 `protobuf:"fixed32,4,opt,name=right,proto3" json:"right,omitempty"` - Bottom float32 `protobuf:"fixed32,5,opt,name=bottom,proto3" json:"bottom,omitempty"` - Confidence float32 `protobuf:"fixed32,6,opt,name=confidence,proto3" json:"confidence,omitempty"` + Type TypeObject `protobuf:"varint,1,opt,name=type,proto3,enum=robocar.events.TypeObject" json:"type,omitempty"` + Left float32 `protobuf:"fixed32,2,opt,name=left,proto3" json:"left,omitempty"` + Top float32 `protobuf:"fixed32,3,opt,name=top,proto3" json:"top,omitempty"` + Right float32 `protobuf:"fixed32,4,opt,name=right,proto3" json:"right,omitempty"` + Bottom float32 `protobuf:"fixed32,5,opt,name=bottom,proto3" json:"bottom,omitempty"` + Confidence float32 `protobuf:"fixed32,6,opt,name=confidence,proto3" json:"confidence,omitempty"` + DistanceInMm int64 `protobuf:"varint,7,opt,name=distanceInMm,proto3" json:"distanceInMm,omitempty"` } func (x *Object) Reset() { @@ -746,6 +747,13 @@ func (x *Object) GetConfidence() float32 { return 0 } +func (x *Object) GetDistanceInMm() int64 { + if x != nil { + return x.DistanceInMm + } + return 0 +} + type SwitchRecordMessage struct { state protoimpl.MessageState sizeCache protoimpl.SizeCache @@ -1142,7 +1150,7 @@ var file_events_events_proto_rawDesc = []byte{ 0x66, 0x72, 0x61, 0x6d, 0x65, 0x5f, 0x72, 0x65, 0x66, 0x18, 0x02, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x18, 0x2e, 0x72, 0x6f, 0x62, 0x6f, 0x63, 0x61, 0x72, 0x2e, 0x65, 0x76, 0x65, 0x6e, 0x74, 0x73, 0x2e, 0x46, 0x72, 0x61, 0x6d, 0x65, 0x52, 0x65, 0x66, 0x52, 0x08, 0x66, 0x72, 0x61, 0x6d, 0x65, - 0x52, 0x65, 0x66, 0x22, 0xac, 0x01, 0x0a, 0x06, 0x4f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x12, 0x2e, + 0x52, 0x65, 0x66, 0x22, 0xd0, 0x01, 0x0a, 0x06, 0x4f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x12, 0x2e, 0x0a, 0x04, 0x74, 0x79, 0x70, 0x65, 0x18, 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0x06, + 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33, } var ( diff --git a/python/events/events_pb2.py b/python/events/events_pb2.py index 2ea7ef5..9486680 100644 --- a/python/events/events_pb2.py +++ b/python/events/events_pb2.py @@ -14,7 +14,7 @@ _sym_db = _symbol_database.Default() from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2 -DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13\x65vents/events.proto\x12\x0erobocar.events\x1a\x1fgoogle/protobuf/timestamp.proto\"T\n\x08\x46rameRef\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\n\n\x02id\x18\x02 \x01(\t\x12.\n\ncreated_at\x18\x03 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\"C\n\x0c\x46rameMessage\x12$\n\x02id\x18\x01 \x01(\x0b\x32\x18.robocar.events.FrameRef\x12\r\n\x05\x66rame\x18\x02 \x01(\x0c\"\x8a\x01\n\x10\x44isparityMessage\x12+\n\tframe_ref\x18\x01 \x01(\x0b\x32\x18.robocar.events.FrameRef\x12\x11\n\tdisparity\x18\x02 \x01(\x0c\x12\x1e\n\x16\x66ocal_length_in_pixels\x18\x03 \x01(\x01\x12\x16\n\x0e\x62\x61seline_in_mm\x18\x04 \x01(\x01\"d\n\x0fSteeringMessage\x12\x10\n\x08steering\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"d\n\x0fThrottleMessage\x12\x10\n\x08throttle\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x82\x01\n\x10SpeedZoneMessage\x12-\n\nspeed_zone\x18\x01 \x01(\x0e\x32\x19.robocar.events.SpeedZone\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"A\n\x10\x44riveModeMessage\x12-\n\ndrive_mode\x18\x01 \x01(\x0e\x32\x19.robocar.events.DriveMode\"f\n\x0eObjectsMessage\x12\'\n\x07objects\x18\x01 \x03(\x0b\x32\x16.robocar.events.Object\x12+\n\tframe_ref\x18\x02 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x80\x01\n\x06Object\x12(\n\x04type\x18\x01 \x01(\x0e\x32\x1a.robocar.events.TypeObject\x12\x0c\n\x04left\x18\x02 \x01(\x02\x12\x0b\n\x03top\x18\x03 \x01(\x02\x12\r\n\x05right\x18\x04 \x01(\x02\x12\x0e\n\x06\x62ottom\x18\x05 \x01(\x02\x12\x12\n\nconfidence\x18\x06 \x01(\x02\"&\n\x13SwitchRecordMessage\x12\x0f\n\x07\x65nabled\x18\x01 \x01(\x08\"\x8c\x01\n\x0bRoadMessage\x12&\n\x07\x63ontour\x18\x01 \x03(\x0b\x32\x15.robocar.events.Point\x12(\n\x07\x65llipse\x18\x02 \x01(\x0b\x32\x17.robocar.events.Ellipse\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x1d\n\x05Point\x12\t\n\x01x\x18\x01 \x01(\x05\x12\t\n\x01y\x18\x02 \x01(\x05\"r\n\x07\x45llipse\x12%\n\x06\x63\x65nter\x18\x01 \x01(\x0b\x32\x15.robocar.events.Point\x12\r\n\x05width\x18\x02 \x01(\x05\x12\x0e\n\x06height\x18\x03 \x01(\x05\x12\r\n\x05\x61ngle\x18\x04 \x01(\x02\x12\x12\n\nconfidence\x18\x05 \x01(\x02\"\xf5\x01\n\rRecordMessage\x12+\n\x05\x66rame\x18\x01 \x01(\x0b\x32\x1c.robocar.events.FrameMessage\x12\x31\n\x08steering\x18\x02 \x01(\x0b\x32\x1f.robocar.events.SteeringMessage\x12;\n\x12\x61utopilot_steering\x18\x04 \x01(\x0b\x32\x1f.robocar.events.SteeringMessage\x12\x34\n\ndrive_mode\x18\x05 \x01(\x0b\x32 .robocar.events.DriveModeMessage\x12\x11\n\trecordSet\x18\x03 \x01(\t*8\n\tSpeedZone\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x08\n\x04SLOW\x10\x01\x12\n\n\x06NORMAL\x10\x02\x12\x08\n\x04\x46\x41ST\x10\x03*:\n\tDriveMode\x12\x0b\n\x07INVALID\x10\x00\x12\x08\n\x04USER\x10\x01\x12\t\n\x05PILOT\x10\x02\x12\x0b\n\x07\x43OPILOT\x10\x03*2\n\nTypeObject\x12\x07\n\x03\x41NY\x10\x00\x12\x07\n\x03\x43\x41R\x10\x01\x12\x08\n\x04\x42UMP\x10\x02\x12\x08\n\x04PLOT\x10\x03\x42\nZ\x08./eventsb\x06proto3') +DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13\x65vents/events.proto\x12\x0erobocar.events\x1a\x1fgoogle/protobuf/timestamp.proto\"T\n\x08\x46rameRef\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\n\n\x02id\x18\x02 \x01(\t\x12.\n\ncreated_at\x18\x03 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\"C\n\x0c\x46rameMessage\x12$\n\x02id\x18\x01 \x01(\x0b\x32\x18.robocar.events.FrameRef\x12\r\n\x05\x66rame\x18\x02 \x01(\x0c\"\x8a\x01\n\x10\x44isparityMessage\x12+\n\tframe_ref\x18\x01 \x01(\x0b\x32\x18.robocar.events.FrameRef\x12\x11\n\tdisparity\x18\x02 \x01(\x0c\x12\x1e\n\x16\x66ocal_length_in_pixels\x18\x03 \x01(\x01\x12\x16\n\x0e\x62\x61seline_in_mm\x18\x04 \x01(\x01\"d\n\x0fSteeringMessage\x12\x10\n\x08steering\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"d\n\x0fThrottleMessage\x12\x10\n\x08throttle\x18\x01 \x01(\x02\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 \x01(\x0b\x32\x18.robocar.events.FrameRef\"\x82\x01\n\x10SpeedZoneMessage\x12-\n\nspeed_zone\x18\x01 \x01(\x0e\x32\x19.robocar.events.SpeedZone\x12\x12\n\nconfidence\x18\x02 \x01(\x02\x12+\n\tframe_ref\x18\x03 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\x01(\x05\"r\n\x07\x45llipse\x12%\n\x06\x63\x65nter\x18\x01 \x01(\x0b\x32\x15.robocar.events.Point\x12\r\n\x05width\x18\x02 \x01(\x05\x12\x0e\n\x06height\x18\x03 \x01(\x05\x12\r\n\x05\x61ngle\x18\x04 \x01(\x02\x12\x12\n\nconfidence\x18\x05 \x01(\x02\"\xf5\x01\n\rRecordMessage\x12+\n\x05\x66rame\x18\x01 \x01(\x0b\x32\x1c.robocar.events.FrameMessage\x12\x31\n\x08steering\x18\x02 \x01(\x0b\x32\x1f.robocar.events.SteeringMessage\x12;\n\x12\x61utopilot_steering\x18\x04 \x01(\x0b\x32\x1f.robocar.events.SteeringMessage\x12\x34\n\ndrive_mode\x18\x05 \x01(\x0b\x32 .robocar.events.DriveModeMessage\x12\x11\n\trecordSet\x18\x03 \x01(\t*8\n\tSpeedZone\x12\x0b\n\x07UNKNOWN\x10\x00\x12\x08\n\x04SLOW\x10\x01\x12\n\n\x06NORMAL\x10\x02\x12\x08\n\x04\x46\x41ST\x10\x03*:\n\tDriveMode\x12\x0b\n\x07INVALID\x10\x00\x12\x08\n\x04USER\x10\x01\x12\t\n\x05PILOT\x10\x02\x12\x0b\n\x07\x43OPILOT\x10\x03*2\n\nTypeObject\x12\x07\n\x03\x41NY\x10\x00\x12\x07\n\x03\x43\x41R\x10\x01\x12\x08\n\x04\x42UMP\x10\x02\x12\x08\n\x04PLOT\x10\x03\x42\nZ\x08./eventsb\x06proto3') _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals()) _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'events.events_pb2', globals()) @@ -22,12 +22,12 @@ if _descriptor._USE_C_DESCRIPTORS == False: DESCRIPTOR._options = None DESCRIPTOR._serialized_options = b'Z\010./events' - _SPEEDZONE._serialized_start=1585 - _SPEEDZONE._serialized_end=1641 - _DRIVEMODE._serialized_start=1643 - _DRIVEMODE._serialized_end=1701 - _TYPEOBJECT._serialized_start=1703 - _TYPEOBJECT._serialized_end=1753 + _SPEEDZONE._serialized_start=1607 + _SPEEDZONE._serialized_end=1663 + _DRIVEMODE._serialized_start=1665 + _DRIVEMODE._serialized_end=1723 + _TYPEOBJECT._serialized_start=1725 + _TYPEOBJECT._serialized_end=1775 _FRAMEREF._serialized_start=72 _FRAMEREF._serialized_end=156 _FRAMEMESSAGE._serialized_start=158 @@ -45,15 +45,15 @@ if _descriptor._USE_C_DESCRIPTORS == False: _OBJECTSMESSAGE._serialized_start=772 _OBJECTSMESSAGE._serialized_end=874 _OBJECT._serialized_start=877 - _OBJECT._serialized_end=1005 - _SWITCHRECORDMESSAGE._serialized_start=1007 - _SWITCHRECORDMESSAGE._serialized_end=1045 - _ROADMESSAGE._serialized_start=1048 - _ROADMESSAGE._serialized_end=1188 - _POINT._serialized_start=1190 - _POINT._serialized_end=1219 - _ELLIPSE._serialized_start=1221 - _ELLIPSE._serialized_end=1335 - _RECORDMESSAGE._serialized_start=1338 - _RECORDMESSAGE._serialized_end=1583 + _OBJECT._serialized_end=1027 + _SWITCHRECORDMESSAGE._serialized_start=1029 + _SWITCHRECORDMESSAGE._serialized_end=1067 + _ROADMESSAGE._serialized_start=1070 + _ROADMESSAGE._serialized_end=1210 + _POINT._serialized_start=1212 + _POINT._serialized_end=1241 + _ELLIPSE._serialized_start=1243 + _ELLIPSE._serialized_end=1357 + _RECORDMESSAGE._serialized_start=1360 + _RECORDMESSAGE._serialized_end=1605 # @@protoc_insertion_point(module_scope)