diff options
Diffstat (limited to 'lri-proto')
36 files changed, 995 insertions, 0 deletions
diff --git a/lri-proto/.gitignore b/lri-proto/.gitignore new file mode 100644 index 0000000..c1aa2a7 --- /dev/null +++ b/lri-proto/.gitignore @@ -0,0 +1 @@ +src/proto \ No newline at end of file diff --git a/lri-proto/Cargo.lock b/lri-proto/Cargo.lock new file mode 100644 index 0000000..35e50c9 --- /dev/null +++ b/lri-proto/Cargo.lock @@ -0,0 +1,45 @@ +# This file is automatically @generated by Cargo. +# It is not intended for manual editing. +version = 3 + +[[package]] +name = "bytes" +version = "1.5.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a2bd12c1caf447e69cd4528f47f94d203fd2582878ecb9e9465484c4148a8223" + +[[package]] +name = "lri-proto" +version = "0.1.0" +dependencies = [ + "protobuf", + "protobuf-codegen-pure", +] + +[[package]] +name = "protobuf" +version = "2.28.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "106dd99e98437432fed6519dedecfade6a06a73bb7b2a1e019fdd2bee5778d94" +dependencies = [ + "bytes", +] + +[[package]] +name = "protobuf-codegen" +version = "2.28.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "033460afb75cf755fcfc16dfaed20b86468082a2ea24e05ac35ab4a099a017d6" +dependencies = [ + "protobuf", +] + +[[package]] +name = "protobuf-codegen-pure" +version = "2.28.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "95a29399fc94bcd3eeaa951c715f7bea69409b2445356b00519740bcd6ddd865" +dependencies = [ + "protobuf", + "protobuf-codegen", +] diff --git a/lri-proto/Cargo.toml b/lri-proto/Cargo.toml new file mode 100644 index 0000000..2dd0cd7 --- /dev/null +++ b/lri-proto/Cargo.toml @@ -0,0 +1,13 @@ +[package] +name = "lri-proto" +version = "0.1.0" +#authors = ["Daniel L. Lu <daniel@lawrence.lu>"] +edition = "2021" + +# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html + +[dependencies] +protobuf = { version = "3.2", features = ["with-bytes"] } + +[build-dependencies] +protobuf-codegen = "3" diff --git a/lri-proto/LICENSE b/lri-proto/LICENSE new file mode 100644 index 0000000..b5ef890 --- /dev/null +++ b/lri-proto/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2021 Daniel Lawrence Lu + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/lri-proto/README.md b/lri-proto/README.md new file mode 100644 index 0000000..fa4d7ed --- /dev/null +++ b/lri-proto/README.md @@ -0,0 +1,2 @@ +# lri-proto +Rust crate holding the protobuf definitions for lri-rs. A gently modified version of [dllu/lri.rs](https://github.com/dllu/lri-rs) \ No newline at end of file diff --git a/lri-proto/build.rs b/lri-proto/build.rs new file mode 100644 index 0000000..31aee5a --- /dev/null +++ b/lri-proto/build.rs @@ -0,0 +1,50 @@ +use std::fs; + +use protobuf_codegen::Customize; +use std::path::Path; + +fn main() { + let proto_dir = "src/proto"; + + if Path::new(&proto_dir).exists() { + fs::remove_dir_all(&proto_dir).unwrap(); + } + fs::create_dir(&proto_dir).unwrap(); + + protobuf_codegen::Codegen::new() + .pure() + .customize(Customize::default().gen_mod_rs(true).lite_runtime(true)) + .out_dir(proto_dir) + .input("proto/camera_id.proto") + .input("proto/camera_module.proto") + .input("proto/color_calibration.proto") + .input("proto/dead_pixel_map.proto") + .input("proto/device_temp.proto") + .input("proto/distortion.proto") + .input("proto/face_data.proto") + .input("proto/flash_calibration.proto") + .input("proto/geometric_calibration.proto") + .input("proto/gps_data.proto") + .input("proto/hot_pixel_map.proto") + .input("proto/hw_info.proto") + .input("proto/imu_data.proto") + .input("proto/lightheader.proto") + .input("proto/matrix3x3f.proto") + .input("proto/matrix4x4f.proto") + .input("proto/mirror_system.proto") + .input("proto/point2f.proto") + .input("proto/point2i.proto") + .input("proto/point3f.proto") + .input("proto/proximity_sensors.proto") + .input("proto/range2f.proto") + .input("proto/rectanglei.proto") + .input("proto/sensor_characterization.proto") + .input("proto/sensor_type.proto") + .input("proto/time_stamp.proto") + .input("proto/tof_calibration.proto") + .input("proto/view_preferences.proto") + .input("proto/vignetting_characterization.proto") + .include("proto") + .run() + .unwrap(); +} diff --git a/lri-proto/proto/camera_id.proto b/lri-proto/proto/camera_id.proto new file mode 100644 index 0000000..f34e474 --- /dev/null +++ b/lri-proto/proto/camera_id.proto @@ -0,0 +1,22 @@ +syntax = "proto2"; + +package ltpb; + +enum CameraID { + A1 = 0; + A2 = 1; + A3 = 2; + A4 = 3; + A5 = 4; + B1 = 5; + B2 = 6; + B3 = 7; + B4 = 8; + B5 = 9; + C1 = 10; + C2 = 11; + C3 = 12; + C4 = 13; + C5 = 14; + C6 = 15; +} diff --git a/lri-proto/proto/camera_module.proto b/lri-proto/proto/camera_module.proto new file mode 100644 index 0000000..9506941 --- /dev/null +++ b/lri-proto/proto/camera_module.proto @@ -0,0 +1,67 @@ +syntax = "proto2"; + +package ltpb; + +import "camera_id.proto"; +import "point2i.proto"; +import "point2f.proto"; + +message CameraModule { + optional AFInfo af_info = 1; + message AFInfo { + required AFMode mode = 1; + enum AFMode { + AUTO = 0; + } + + optional Point2F roi_center = 2; + optional float disparity_focus_distance = 3; + optional float contrast_focus_distance = 4; + optional bool lens_timeout = 5; + optional bool mirror_timeout = 6; + optional int32 mirror_position = 7; + } + + required CameraID id = 2; + optional bool is_enabled = 3 [default = true]; + optional int32 mirror_position = 4 [default = 0]; + required int32 lens_position = 5; + required float sensor_analog_gain = 7; + required uint64 sensor_exposure = 8; + + required Surface sensor_data_surface = 9; + message Surface { + required Point2I start = 1; + required Point2I size = 2; + + required FormatType format = 3; + enum FormatType { + RAW_BAYER_JPEG = 0; + RAW_RESERVED_0 = 1; + RAW_RESERVED_1 = 2; + RAW_RESERVED_2 = 3; + RAW_RESERVED_3 = 4; + RAW_RESERVED_4 = 5; + RAW_RESERVED_5 = 6; + RAW_PACKED_10BPP = 7; + RAW_PACKED_12BPP = 8; + RAW_PACKED_14BPP = 9; + } + + required uint32 row_stride = 4; + required uint64 data_offset = 5; + optional Point2F data_scale = 6; + } + + optional sint32 sensor_temparature = 10; + optional bool sensor_is_horizontal_flip = 11 [default = false]; + optional bool sensor_is_vertical_flip = 12 [default = false]; + optional Point2I sensor_bayer_red_override = 13; + optional float sensor_digital_gain = 14; + optional uint32 frame_index = 15; + optional bool sensor_dpc_on = 16 [default = true]; + optional sint32 sensor_exp_start_offset = 17; + optional float sensor_scan_speed = 18; + + reserved 6; +} diff --git a/lri-proto/proto/color_calibration.proto b/lri-proto/proto/color_calibration.proto new file mode 100644 index 0000000..bef82f7 --- /dev/null +++ b/lri-proto/proto/color_calibration.proto @@ -0,0 +1,47 @@ +syntax = "proto2"; + +package ltpb; + +import "matrix3x3f.proto"; +import "point3f.proto"; +import "point2f.proto"; + +message ColorCalibration { + required IlluminantType type = 1; + enum IlluminantType { + A = 0; + D50 = 1; + D65 = 2; + D75 = 3; + F2 = 4; + F7 = 5; + F11 = 6; + TL84 = 7; + UNKNOWN = 99; + } + + required Matrix3x3F forward_matrix = 2; + required Matrix3x3F color_matrix = 3; + required float rg_ratio = 4; + required float bg_ratio = 5; + repeated Point3F macbeth_data = 6; + repeated Point2F illuminant_spd = 7; + + optional SpectralData spectral_data = 8; + message SpectralData { + required ChannelFormat format = 1; + enum ChannelFormat { + MONO = 0; + RGB = 1; + BAYER_RGGB = 2; + } + + repeated SpectralSensitivity channel_data = 2; + } + + message SpectralSensitivity { + required uint32 start = 1; + required uint32 end = 2; + repeated float data = 3 [packed = true]; + } +} diff --git a/lri-proto/proto/dead_pixel_map.proto b/lri-proto/proto/dead_pixel_map.proto new file mode 100644 index 0000000..b4df63b --- /dev/null +++ b/lri-proto/proto/dead_pixel_map.proto @@ -0,0 +1,9 @@ +syntax = "proto2"; + +package ltpb; + +message DeadPixelMap { + required uint64 data_offset = 1; + required uint32 data_size = 2; + optional float black_level_threshold = 3; +} diff --git a/lri-proto/proto/device_temp.proto b/lri-proto/proto/device_temp.proto new file mode 100644 index 0000000..1412a82 --- /dev/null +++ b/lri-proto/proto/device_temp.proto @@ -0,0 +1,11 @@ +syntax = "proto2"; + +package ltpb; + +message DeviceTemp { + optional sint32 sensor_1 = 1; + optional sint32 sensor_2 = 2; + optional sint32 sensor_3 = 3; + optional sint32 sensor_4 = 4; + optional sint32 flex_sensor_1 = 5; +} diff --git a/lri-proto/proto/distortion.proto b/lri-proto/proto/distortion.proto new file mode 100644 index 0000000..cdd8f33 --- /dev/null +++ b/lri-proto/proto/distortion.proto @@ -0,0 +1,31 @@ +syntax = "proto2"; + +package ltpb; + +import "point2f.proto"; +import "rectanglei.proto"; + +message Distortion { + optional Polynomial polynomial = 1; + message Polynomial { + required Point2F distortion_center = 1; + required Point2F normalization = 2; + repeated float coeffs = 3 [packed = true]; + optional float fit_cost = 4; + optional RectangleI valid_roi = 5; + } + + optional CRA cra = 2; + message CRA { + required Point2F distortion_center = 1; + required float sensor_distance = 2; + required float exit_pupil_distance = 3; + required float pixel_size = 4; + repeated Point2F cra = 5; + repeated Point2F coeffs = 6; + optional float fit_cost = 7; + optional RectangleI valid_roi = 8; + optional float lens_hall_code = 9; + optional float distance_hall_ratio = 10; + } +} diff --git a/lri-proto/proto/face_data.proto b/lri-proto/proto/face_data.proto new file mode 100644 index 0000000..669970a --- /dev/null +++ b/lri-proto/proto/face_data.proto @@ -0,0 +1,18 @@ +syntax = "proto2"; + +package ltpb; + +import "camera_id.proto"; +import "rectanglei.proto"; + +message FaceData { + required CameraID id = 1; + required uint32 frame_index = 2; + + repeated ROI rois = 3; + message ROI { + optional uint32 id = 1; + optional RectangleI roi = 2; + optional float confidence = 3; + } +} diff --git a/lri-proto/proto/flash_calibration.proto b/lri-proto/proto/flash_calibration.proto new file mode 100644 index 0000000..1327442 --- /dev/null +++ b/lri-proto/proto/flash_calibration.proto @@ -0,0 +1,12 @@ +syntax = "proto2"; + +package ltpb; + +message FlashCalibration { + required float ledcool_lux = 1; + required float ledcool_max_lumens = 2; + required float ledcool_cct = 3; + required float ledwarm_lux = 4; + required float ledwarm_max_lumens = 5; + required float ledwarm_cct = 6; +} diff --git a/lri-proto/proto/geometric_calibration.proto b/lri-proto/proto/geometric_calibration.proto new file mode 100644 index 0000000..d89d2e7 --- /dev/null +++ b/lri-proto/proto/geometric_calibration.proto @@ -0,0 +1,64 @@ +syntax = "proto2"; + +package ltpb; + +import "mirror_system.proto"; +import "matrix3x3f.proto"; +import "point3f.proto"; +import "distortion.proto"; +import "range2f.proto"; +import "device_temp.proto"; +import "point2f.proto"; + +message GeometricCalibration { + optional MirrorType mirror_type = 1; + enum MirrorType { + NONE = 0; + GLUED = 1; + MOVABLE = 2; + } + + repeated CalibrationFocusBundle per_focus_calibration = 2; + message CalibrationFocusBundle { + required float focus_distance = 1; + optional Intrinsics intrinsics = 2; + optional Extrinsics extrinsics = 3; + optional sint32 sensor_temp = 4; + optional DeviceTemp device_temp = 5; + optional float focus_hall_code = 6; + } + + optional Distortion distortion = 3; + optional Range2F lens_hall_code_range = 4; + optional Range2F focus_distance_range = 5; + + optional AngleOpticalCenterMapping angle_optical_center_mapping = 6; + message AngleOpticalCenterMapping { + required Point2F center_start = 1; + required Point2F center_end = 2; + required float angle_offset = 3; + required float t_scale = 4; + required float t_offset = 5; + } + + message Intrinsics { + required Matrix3x3F k_mat = 1; + optional float rms_error = 2; + } + + message Extrinsics { + optional CanonicalFormat canonical = 1; + message CanonicalFormat { + required Matrix3x3F rotation = 1; + required Point3F translation = 2; + optional float stereo_error = 3; + optional float reprojection_error = 4; + } + + optional MovableMirrorFormat moveable_mirror = 2; + message MovableMirrorFormat { + optional MirrorSystem mirror_system = 1; + optional MirrorActuatorMapping mirror_actuator_mapping = 2; + } + } +} diff --git a/lri-proto/proto/gps_data.proto b/lri-proto/proto/gps_data.proto new file mode 100644 index 0000000..bc57f14 --- /dev/null +++ b/lri-proto/proto/gps_data.proto @@ -0,0 +1,49 @@ +syntax = "proto2"; + +package ltpb; + +message GPSData { + optional double latitude = 1; + optional double longitude = 2; + optional uint64 timestamp = 3; + optional double dop = 4; + + optional Track track = 5; + message Track { + required double value = 1; + required ReferenceNorth ref = 2; + } + + optional Heading heading = 6; + message Heading { + required double value = 1; + required ReferenceNorth ref = 2; + } + + optional Altitude altitude = 7; + message Altitude { + required double value = 1; + required ReferenceAltitude ref = 2; + } + + optional double speed = 8; + + optional ProcessingMethod processing_method = 9; + enum ProcessingMethod { + PROCESSING_METHOD_UNKNOWN = 0; + PROCESSING_METHOD_GPS = 1; + PROCESSING_METHOD_CELLID = 2; + PROCESSING_METHOD_WLAN = 3; + PROCESSING_METHOD_MANUAL = 4; + PROCESSING_METHOD_FUSED = 5; + } + + enum ReferenceNorth { + REFERENCE_NORTH_MAGNETIC = 0; + REFERENCE_NORTH_TRUE = 1; + } + + enum ReferenceAltitude { + REFERENCE_ALTITUDE_SEA_LEVEL = 0; + } +} diff --git a/lri-proto/proto/hot_pixel_map.proto b/lri-proto/proto/hot_pixel_map.proto new file mode 100644 index 0000000..4cd53dc --- /dev/null +++ b/lri-proto/proto/hot_pixel_map.proto @@ -0,0 +1,16 @@ +syntax = "proto2"; + +package ltpb; + +message HotPixelMap { + repeated HotPixelMeasurement data = 1; + message HotPixelMeasurement { + required uint64 data_offset = 1; + required uint32 data_size = 2; + required uint32 data_exposure = 3; + required int32 sensor_temparature = 4; + required float sensor_gain = 5; + optional float pixel_variance = 6; + optional float threshold = 7; + } +} diff --git a/lri-proto/proto/hw_info.proto b/lri-proto/proto/hw_info.proto new file mode 100644 index 0000000..70bd90f --- /dev/null +++ b/lri-proto/proto/hw_info.proto @@ -0,0 +1,64 @@ +syntax = "proto2"; + +package ltpb; + +import "sensor_type.proto"; +import "camera_id.proto"; + +message CameraModuleHwInfo { + required CameraID id = 1; + required SensorType sensor = 2; + + optional LensType lens = 3 [default = LENS_UNKNOWN]; + enum LensType { + LENS_UNKNOWN = 0; + LENS_SHOWIN = 1; + LENS_LARGAN = 2; + LENS_SUNNY = 3; + LENS_KANTATSU = 4; + } + + optional MirrorActuatorType mirror_actuator = 4 [default = MIRROR_ACTUATOR_UNKNOWN]; + enum MirrorActuatorType { + MIRROR_ACTUATOR_UNKNOWN = 0; + MIRROR_ACTUATOR_PZT = 1; + } + + optional MirrorType mirror = 5 [default = MIRROR_UNKNOWN]; + enum MirrorType { + MIRROR_UNKNOWN = 0; + MIRROR_DIELECTRIC_SNX = 1; + MIRROR_SILVER_ZUISHO = 2; + } + + enum LensActuatorType { + LENS_ACTUATOR_UNKNOWN = 0; + LENS_ACTUATOR_SHICOH = 1; + LENS_ACTUATOR_PZT = 2; + } +} + +message HwInfo { + repeated CameraModuleHwInfo camera = 1; + + optional FlashType flash = 2 [default = FLASH_UNKNOWN]; + enum FlashType { + FLASH_UNKNOWN = 0; + FLASH_OSRAM_CBLPM1 = 1; + } + + optional ToFType tof = 3 [default = TOF_UNKNOWN]; + enum ToFType { + TOF_UNKNOWN = 0; + TOF_STMICRO_VL53L0 = 1; + } + + optional ModelType model = 4; + enum ModelType { + MODEL_P1 = 0; + MODEL_P1_1 = 1; + MODEL_P2 = 2; + } + + optional string manufacturer = 5; +} diff --git a/lri-proto/proto/imu_data.proto b/lri-proto/proto/imu_data.proto new file mode 100644 index 0000000..7106fa3 --- /dev/null +++ b/lri-proto/proto/imu_data.proto @@ -0,0 +1,17 @@ +syntax = "proto2"; + +package ltpb; + +import "point3f.proto"; + +message IMUData { + required uint32 frame_index = 1; + + repeated Sample accelerometer = 2; + message Sample { + required uint32 row_idx = 1; + required Point3F data = 2; + } + + repeated Sample gyroscope = 3; +} diff --git a/lri-proto/proto/lightheader.proto b/lri-proto/proto/lightheader.proto new file mode 100644 index 0000000..6a729bb --- /dev/null +++ b/lri-proto/proto/lightheader.proto @@ -0,0 +1,106 @@ +syntax = "proto2"; + +package ltpb; + +import "camera_module.proto"; +import "camera_id.proto"; +import "time_stamp.proto"; +import "geometric_calibration.proto"; +import "color_calibration.proto"; +import "sensor_characterization.proto"; +import "vignetting_characterization.proto"; +import "hot_pixel_map.proto"; +import "device_temp.proto"; +import "dead_pixel_map.proto"; +import "tof_calibration.proto"; +import "flash_calibration.proto"; +import "sensor_type.proto"; +import "hw_info.proto"; +import "view_preferences.proto"; +import "proximity_sensors.proto"; +import "imu_data.proto"; +import "gps_data.proto"; +import "face_data.proto"; + +message FactoryDeviceCalibration { + optional FlashCalibration flash = 1; + optional ToFCalibration tof = 2; + optional TimeStamp time_stamp = 3; +} + +message FactoryModuleCalibration { + required CameraID camera_id = 1; + repeated ColorCalibration color = 2; + optional GeometricCalibration geometry = 3; + optional VignettingCharacterization vignetting = 4; + optional HotPixelMap hot_pixel_map = 5; + optional DeadPixelMap dead_pixel_map = 6; + optional TimeStamp time_stamp = 7; +} + +message ColorCalibrationGold { + required CameraID camera_id = 1; + repeated ColorCalibration data = 2; + optional TimeStamp time_stamp = 3; +} + +message SensorData { + required SensorType type = 1; + required SensorCharacterization data = 2; + optional TimeStamp time_stamp = 3; +} + +message FlashData { + required Mode mode = 1; + enum Mode { + NOFLASH = 0; + FLASH = 1; + TORCH = 2; + } + + optional uint32 ledcool_current = 2; + optional uint32 ledwarm_current = 3; + optional uint32 flash_duration = 4; + optional int32 offset_duration = 5; +} + +message AFDebugInfo { + optional bool focus_achieved = 1; + optional int32 image_focal_length = 2; +} + +message Compatibility { + required uint32 version = 1; + repeated string features = 2; +} + +message LightHeader { + optional uint64 image_unique_id_low = 1; + optional uint64 image_unique_id_high = 2; + optional TimeStamp image_time_stamp = 3; + optional int32 image_focal_length = 4; + optional CameraID image_reference_camera = 5; + optional uint64 device_unique_id_low = 6; + optional uint64 device_unique_id_high = 7; + optional string device_model_name = 8; + optional string device_fw_version = 9; + optional string device_asic_fw_version = 10; + optional DeviceTemp device_temperature = 11; + repeated CameraModule modules = 12; + repeated FactoryModuleCalibration module_calibration = 13; + optional FactoryDeviceCalibration device_calibration = 14; + repeated ColorCalibrationGold gold_cc = 15; + repeated SensorData sensor_data = 16; + optional float tof_range = 17; + optional HwInfo hw_info = 18; + optional ViewPreferences view_preferences = 19; + optional ProximitySensors proximity_sensors = 20; + optional FlashData flash_data = 22; + repeated IMUData imu_data = 23; + optional AFDebugInfo af_info = 24; + optional GPSData gps_data = 25; + optional Compatibility compatibility = 26; + repeated FaceData face_data = 27; + + reserved 21; +} diff --git a/lri-proto/proto/matrix3x3f.proto b/lri-proto/proto/matrix3x3f.proto new file mode 100644 index 0000000..a1558b2 --- /dev/null +++ b/lri-proto/proto/matrix3x3f.proto @@ -0,0 +1,15 @@ +syntax = "proto2"; + +package ltpb; + +message Matrix3x3F { + required float x00 = 1; + required float x01 = 2; + required float x02 = 3; + required float x10 = 4; + required float x11 = 5; + required float x12 = 6; + required float x20 = 7; + required float x21 = 8; + required float x22 = 9; +} diff --git a/lri-proto/proto/matrix4x4f.proto b/lri-proto/proto/matrix4x4f.proto new file mode 100644 index 0000000..de2de61 --- /dev/null +++ b/lri-proto/proto/matrix4x4f.proto @@ -0,0 +1,22 @@ +syntax = "proto2"; + +package ltpb; + +message Matrix4x4F { + required float x00 = 1; + required float x01 = 2; + required float x02 = 3; + required float x03 = 4; + required float x10 = 5; + required float x11 = 6; + required float x12 = 7; + required float x13 = 8; + required float x20 = 9; + required float x21 = 10; + required float x22 = 11; + required float x23 = 12; + required float x30 = 13; + required float x31 = 14; + required float x32 = 15; + required float x33 = 16; +} diff --git a/lri-proto/proto/mirror_system.proto b/lri-proto/proto/mirror_system.proto new file mode 100644 index 0000000..4bb057e --- /dev/null +++ b/lri-proto/proto/mirror_system.proto @@ -0,0 +1,50 @@ +syntax = "proto2"; + +package ltpb; + +import "matrix3x3f.proto"; +import "point3f.proto"; +import "range2f.proto"; + +message MirrorSystem { + required Point3F real_camera_location = 1; + required Matrix3x3F real_camera_orientation = 2; + required Point3F rotation_axis = 3; + required Point3F point_on_rotation_axis = 4; + required float distance_mirror_plane_to_point_on_rotation_axis = 5; + required Point3F mirror_normal_at_zero_degrees = 6; + required bool flip_img_around_x = 7; + required Range2F mirror_angle_range = 8; + optional float reprojection_error = 9; +} + +message MirrorActuatorMapping { + required TransformationType transformation_type = 1; + enum TransformationType { + MEAN_STD_NORMALIZE = 0; + TAN_HALF_THETA = 1; + } + + required float actuator_length_offset = 2; + required float actuator_length_scale = 3; + required float mirror_angle_offset = 4; + required float mirror_angle_scale = 5; + + repeated ActuatorAnglePair actuator_angle_pair_vec = 6; + message ActuatorAnglePair { + required int32 hall_code = 1; + required float angle = 2; + } + + required QuadraticModel quadratic_model = 7; + message QuadraticModel { + required bool use_rplus_for_left_segment = 1; + required bool use_rplus_for_right_segment = 2; + required float inflection_value = 3; + repeated float model_coeffs = 4 [packed = true]; + } + + optional float angle_to_hall_code_error = 8; + optional float hall_code_to_angle_error = 9; + optional Range2F hall_code_range = 10; +} diff --git a/lri-proto/proto/point2f.proto b/lri-proto/proto/point2f.proto new file mode 100644 index 0000000..726d594 --- /dev/null +++ b/lri-proto/proto/point2f.proto @@ -0,0 +1,8 @@ +syntax = "proto2"; + +package ltpb; + +message Point2F { + required float x = 1; + required float y = 2; +} diff --git a/lri-proto/proto/point2i.proto b/lri-proto/proto/point2i.proto new file mode 100644 index 0000000..3da325d --- /dev/null +++ b/lri-proto/proto/point2i.proto @@ -0,0 +1,8 @@ +syntax = "proto2"; + +package ltpb; + +message Point2I { + required int32 x = 1; + required int32 y = 2; +} diff --git a/lri-proto/proto/point3f.proto b/lri-proto/proto/point3f.proto new file mode 100644 index 0000000..71e5cbd --- /dev/null +++ b/lri-proto/proto/point3f.proto @@ -0,0 +1,9 @@ +syntax = "proto2"; + +package ltpb; + +message Point3F { + required float x = 1; + required float y = 2; + required float z = 3; +} diff --git a/lri-proto/proto/proximity_sensors.proto b/lri-proto/proto/proximity_sensors.proto new file mode 100644 index 0000000..e7c6ab4 --- /dev/null +++ b/lri-proto/proto/proximity_sensors.proto @@ -0,0 +1,11 @@ +syntax = "proto2"; + +package ltpb; + +message ProximitySensors { + required bool sensor_1 = 1; + required bool sensor_2 = 2; + required bool sensor_3 = 3; + required bool sensor_4 = 4; + required bool sensor_5 = 5; +} diff --git a/lri-proto/proto/range2f.proto b/lri-proto/proto/range2f.proto new file mode 100644 index 0000000..8c905fe --- /dev/null +++ b/lri-proto/proto/range2f.proto @@ -0,0 +1,8 @@ +syntax = "proto2"; + +package ltpb; + +message Range2F { + required float min_val = 1; + required float max_val = 2; +} diff --git a/lri-proto/proto/rectanglei.proto b/lri-proto/proto/rectanglei.proto new file mode 100644 index 0000000..8360ee4 --- /dev/null +++ b/lri-proto/proto/rectanglei.proto @@ -0,0 +1,10 @@ +syntax = "proto2"; + +package ltpb; + +message RectangleI { + required int32 x = 1; + required int32 y = 2; + required int32 width = 3; + required int32 height = 4; +} diff --git a/lri-proto/proto/sensor_characterization.proto b/lri-proto/proto/sensor_characterization.proto new file mode 100644 index 0000000..d66aa4a --- /dev/null +++ b/lri-proto/proto/sensor_characterization.proto @@ -0,0 +1,26 @@ +syntax = "proto2"; + +package ltpb; + +message SensorCharacterization { + required float black_level = 1; + required float white_level = 2; + optional float cliff_slope = 3; + + repeated VstNoiseModel vst_model = 4; + message VstNoiseModel { + required uint32 gain = 1; + required float threshold = 2; + required float scale = 3; + + required VstModel red = 4; + message VstModel { + required float a = 1; + required float b = 2; + } + + required VstModel green = 5; + required VstModel blue = 6; + optional VstModel panchromatic = 7; + } +} diff --git a/lri-proto/proto/sensor_type.proto b/lri-proto/proto/sensor_type.proto new file mode 100644 index 0000000..98cc824 --- /dev/null +++ b/lri-proto/proto/sensor_type.proto @@ -0,0 +1,12 @@ +syntax = "proto2"; + +package ltpb; + +enum SensorType { + SENSOR_UNKNOWN = 0; + SENSOR_AR835 = 1; + SENSOR_AR1335 = 2; + SENSOR_AR1335_MONO = 3; + SENSOR_IMX386 = 4; + SENSOR_IMX386_MONO = 5; +} diff --git a/lri-proto/proto/time_stamp.proto b/lri-proto/proto/time_stamp.proto new file mode 100644 index 0000000..238eebe --- /dev/null +++ b/lri-proto/proto/time_stamp.proto @@ -0,0 +1,13 @@ +syntax = "proto2"; + +package ltpb; + +message TimeStamp { + required uint32 year = 1; + required uint32 month = 2; + required uint32 day = 3; + required uint32 hour = 4; + required uint32 minute = 5; + required uint32 second = 6; + optional sint32 tz_offset = 7; +} diff --git a/lri-proto/proto/tof_calibration.proto b/lri-proto/proto/tof_calibration.proto new file mode 100644 index 0000000..441eb5e --- /dev/null +++ b/lri-proto/proto/tof_calibration.proto @@ -0,0 +1,10 @@ +syntax = "proto2"; + +package ltpb; + +message ToFCalibration { + required float offset_distance = 1; + required float offset_measurement = 2; + required float xtalk_distance = 3; + required float xtalk_measurement = 4; +} diff --git a/lri-proto/proto/view_preferences.proto b/lri-proto/proto/view_preferences.proto new file mode 100644 index 0000000..592fc6f --- /dev/null +++ b/lri-proto/proto/view_preferences.proto @@ -0,0 +1,94 @@ +syntax = "proto2"; + +package ltpb; + +import "point2f.proto"; + +message ViewPreferences { + optional float f_number = 1; + optional float ev_offset = 2; + optional bool disable_cropping = 3; + + optional HDRMode hdr_mode = 4; + enum HDRMode { + HDR_MODE_NONE = 0; + HDR_MODE_DEFAULT = 1; + HDR_MODE_NATURAL = 2; + HDR_MODE_SURREAL = 3; + } + + optional ViewPresets view_preset = 5; + enum ViewPresets { + VIEW_PRESET_NONE = 0; + VIEW_PRESET_NATURAL = 1; + VIEW_PRESET_FAITHFUL = 2; + VIEW_PRESET_LANDSCAPE = 3; + VIEW_PRESET_PORTRAIT = 4; + } + + optional SceneMode scene_mode = 6; + enum SceneMode { + SCENE_MODE_PORTRAIT = 0; + SCENE_MODE_LANDSCAPE = 1; + SCENE_MODE_SPORT = 2; + SCENE_MODE_MACRO = 3; + SCENE_MODE_NIGHT = 4; + SCENE_MODE_NONE = 5; + } + + optional AWBMode awb_mode = 7; + enum AWBMode { + AWB_MODE_AUTO = 0; + AWB_MODE_DAYLIGHT = 1; + AWB_MODE_SHADE = 2; + AWB_MODE_CLOUDY = 3; + AWB_MODE_TUNGSTEN = 4; + AWB_MODE_FLUORESCENT = 5; + AWB_MODE_FLASH = 6; + AWB_MODE_CUSTOM = 7; + AWB_MODE_KELVIN = 8; + } + + optional Orientation orientation = 9; + enum Orientation { + ORIENTATION_NORMAL = 0; + ORIENTATION_ROT90_CW = 1; + ORIENTATION_ROT90_CCW = 2; + ORIENTATION_ROT90_CW_VFLIP = 3; + ORIENTATION_ROT90_CCW_VFLIP = 4; + ORIENTATION_VFLIP = 5; + ORIENTATION_HFLIP = 6; + ORIENTATION_ROT180 = 7; + } + + optional float image_gain = 10; + optional uint64 image_integration_time_ns = 11; + optional uint32 user_rating = 12; + + optional AspectRatio aspect_ratio = 13; + enum AspectRatio { + ASPECT_RATIO_4_3 = 0; + ASPECT_RATIO_16_9 = 1; + } + + optional Crop crop = 14; + message Crop { + required Point2F start = 1; + required Point2F size = 2; + } + + optional ChannelGain awb_gains = 15; + message ChannelGain { + required float r = 1; + required float g_r = 2; + required float g_b = 3; + required float b = 4; + } + + optional bool is_on_tripod = 16; + optional float qc_lux_index = 17; + optional float display_gain = 18; + optional uint64 display_integration_time_ns = 19; + + reserved 8; +} diff --git a/lri-proto/proto/vignetting_characterization.proto b/lri-proto/proto/vignetting_characterization.proto new file mode 100644 index 0000000..ccf93ec --- /dev/null +++ b/lri-proto/proto/vignetting_characterization.proto @@ -0,0 +1,30 @@ +syntax = "proto2"; + +package ltpb; + +import "matrix4x4f.proto"; + +message VignettingCharacterization { + required CrosstalkModel crosstalk = 1; + message CrosstalkModel { + required uint32 width = 1; + required uint32 height = 2; + repeated Matrix4x4F data = 3; + repeated float data_packed = 4 [packed = true]; + } + + repeated MirrorVignettingModel vignetting = 2; + message MirrorVignettingModel { + required int32 hall_code = 1; + required VignettingModel vignetting = 2; + } + + optional float relative_brightness = 3; + optional int32 lens_hall_code = 4; + + message VignettingModel { + required uint32 width = 1; + required uint32 height = 2; + repeated float data = 3 [packed = true]; + } +} diff --git a/lri-proto/src/lib.rs b/lri-proto/src/lib.rs new file mode 100644 index 0000000..02c0048 --- /dev/null +++ b/lri-proto/src/lib.rs @@ -0,0 +1,4 @@ +mod proto; + +pub use proto::*; +pub use protobuf::Message; |