Skip to content

Commit 2fa38ea

Browse files
author
Michelle Sintov
committed
VIC-13150 Update proto #161
1 parent b49f829 commit 2fa38ea

5 files changed

Lines changed: 645 additions & 283 deletions

File tree

‎anki_vector/messaging/messages.proto‎

Lines changed: 39 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -286,6 +286,45 @@ message CladRect
286286
float height = 4;
287287
}
288288

289+
message RobotObservedMotion {
290+
uint32 timestamp = 1; // Timestamp of the corresponding image
291+
292+
// Area of the supporting region for the point, as a fraction of the image
293+
float img_area = 2;
294+
int32 img_x = 3; // Pixel coordinate of the point in the image, relative to top-left corner.
295+
int32 img_y = 4; // Pixel coordinate of the point in the image, relative to top-left corner.
296+
297+
// Area of the supporting region for the point, as a fraction of the ground ROI
298+
// If unable to map to the ground, area=0
299+
float ground_area = 5;
300+
int32 ground_x = 6; // Coordinates of the point on the ground, relative to robot, in mm
301+
int32 ground_y = 7; // Coordinates of the point on the ground, relative to robot, in mm
302+
303+
// Top area
304+
// Area of the supporting region for the point, as a fraction of the top region
305+
float top_img_area = 8;
306+
int32 top_img_x = 9; // Pixel coordinate of the point in the image, relative to top-left corner.
307+
int32 top_img_y = 10; // Pixel coordinate of the point in the image, relative to top-left corner.
308+
309+
// Bottom area
310+
// Area of the supporting region for the point, as a fraction of the bottom region
311+
float bottom_img_area = 11;
312+
int32 bottom_img_x = 12; // Pixel coordinate of the point in the image, relative to top-left corner.
313+
int32 bottom_img_y = 13; // Pixel coordinate of the point in the image, relative to top-left corner.
314+
315+
// Left area
316+
// Area of the supporting region for the point, as a fraction of the left region
317+
float left_img_area = 14;
318+
int32 left_img_x = 15; // Pixel coordinate of the point in the image, relative to top-left corner.
319+
int32 left_img_y = 16; // Pixel coordinate of the point in the image, relative to top-left corner.
320+
321+
// Right area
322+
// Area of the supporting region for the point, as a fraction of the right region
323+
float right_img_area = 17;
324+
int32 right_img_x = 18; // Pixel coordinate of the point in the image, relative to top-left corner.
325+
int32 right_img_y = 19; // Pixel coordinate of the point in the image, relative to top-left corner.
326+
}
327+
289328
// This is an int8 on the clad side.
290329
// Proto field names are prefixed with "EXPRESSION_"
291330
enum FacialExpression

‎anki_vector/messaging/messages_pb2.py‎

Lines changed: 432 additions & 267 deletions
Some generated files are not rendered by default. Learn more about customizing how changed files appear on GitHub.

‎anki_vector/messaging/shared.proto‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -56,12 +56,12 @@ message Event {
5656
PhotoTaken photo_taken = 9;
5757
RobotState robot_state = 10;
5858
CubeBattery cube_battery = 11;
59-
// Used by Vector to verify the connection is still alive.
60-
KeepAlivePing keep_alive = 12;
59+
KeepAlivePing keep_alive = 12; // Used by Vector to verify the connection is still alive.
6160
ConnectionResponse connection_response = 13;
6261
MirrorModeDisabled mirror_mode_disabled = 16;
6362
VisionModesAutoDisabled vision_modes_auto_disabled = 17;
6463
UserIntent user_intent = 19;
64+
RobotObservedMotion robot_observed_motion = 20;
6565
}
6666
}
6767

‎anki_vector/messaging/shared_pb2.py‎

Lines changed: 25 additions & 14 deletions
Some generated files are not rendered by default. Learn more about customizing how changed files appear on GitHub.

0 commit comments

Comments
 (0)