dfdabc4ee7
* use protos directly * format protos --------- Co-authored-by: Quanyi Li <quanyili0057@gmail.com>
100 lines
4.1 KiB
Protocol Buffer
100 lines
4.1 KiB
Protocol Buffer
/* Copyright 2023 The Waymo Open Dataset Authors.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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==============================================================================*/
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// This proto contains the compressed lidar data for Waymo Open Motion Dataset.
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syntax = "proto2";
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package waymo.open_dataset;
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import "scenarionet/converter/waymo/waymo_protos/dataset.proto";
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// Range image is a 2d tensor. The first dimension (rows) represents pitch.
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// The second dimension represents yaw (columns).
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// Zlib compressed range images include:
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// Raw range image: Raw range image with a non-empty
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// 'range_image_pose_delta_compressed' which tells the vehicle pose of each
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// range image cell.
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// NOTE: 'range_image_pose_delta_compressed' is only populated for the first
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// range image return. The second return has the exact the same range image pose
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// as the first one.
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message CompressedRangeImage {
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// Zlib compressed [H, W, 4] serialized DeltaEncodedData message version which
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// stores MatrixFloat.
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// MatrixFloat range_image;
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// range_image.ParseFromString(val);
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// Inner dimensions are:
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// * channel 0: range
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// * channel 1: intensity
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// * channel 2: elongation
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// * channel 3: is in any no label zone.
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optional bytes range_image_delta_compressed = 1;
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// Zlib compressed [H, W, 4] serialized DeltaEncodedData message version which
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// stores MatrixFloat.
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// To decompress (Please see the documentation for lidar delta encoding):
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// string val = delta_encoder.decompress(range_image_pose_compressed);
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// MatrixFloat range_image_pose;
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// range_image_pose.ParseFromString(val);
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// Inner dimensions are [roll, pitch, yaw, x, y, z] represents a transform
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// from vehicle frame to global frame for every range image pixel.
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// This is ONLY populated for the first return. The second return is assumed
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// to have exactly the same range_image_pose_compressed.
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//
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// The roll, pitch and yaw are specified as 3-2-1 Euler angle rotations,
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// meaning that rotating from the navigation to vehicle frame consists of a
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// yaw, then pitch and finally roll rotation about the z, y and x axes
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// respectively. All rotations use the right hand rule and are positive
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// in the counter clockwise direction.
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optional bytes range_image_pose_delta_compressed = 4;
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}
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// Metadata used for delta encoder.
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message Metadata {
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// Range image's shape information in the compressed data.
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repeated int32 shape = 1;
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// Range image quantization precision for each range image channel.
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repeated float quant_precision = 2;
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}
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// Delta Encoded data structure. The protobuf compressed mask and residual data
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// and the compressed data is encoded via zlib:
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// compressed_bytes = zlib.compress(
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// metadata + data_bytes + mask_bytes + residuals_bytes)
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// The range_image_delta_compressed and range_image_pose_delta_compressed in the
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// CompressedRangeImage are both encoded using this method.
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message DeltaEncodedData {
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repeated sint64 residual = 1 [packed = true];
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repeated uint32 mask = 2 [packed = true];
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optional Metadata metadata = 3;
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}
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// Compressed Laser data.
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message CompressedLaser {
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optional LaserName.Name name = 1;
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optional CompressedRangeImage ri_return1 = 2;
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optional CompressedRangeImage ri_return2 = 3;
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}
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// Lidar data of a frame.
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message CompressedFrameLaserData {
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// The Lidar data for each timestamp.
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repeated CompressedLaser lasers = 1;
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// Laser calibration data has the same length as that of lasers.
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repeated LaserCalibration laser_calibrations = 2;
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// Poses of the SDC corresponding to the track states for each step in the
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// scenario, similar to the one in the Frame proto.
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optional Transform pose = 3;
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} |