diff --git a/.github/workflows/opencv-build.yaml b/.github/workflows/opencv-build.yaml index 49497a6..8696bba 100644 --- a/.github/workflows/opencv-build.yaml +++ b/.github/workflows/opencv-build.yaml @@ -11,7 +11,7 @@ jobs: - name: actions-setup-cmake uses: jwlawson/actions-setup-cmake@v1.13.1 with: - cmake-version: 3.24 + cmake-version: 3.28 - name: Checkout uses: actions/checkout@v3 diff --git a/anchor/backend/README.md b/anchor/backend/README.md index 405aab6..ecaa0cb 100644 --- a/anchor/backend/README.md +++ b/anchor/backend/README.md @@ -1,33 +1,44 @@ # November 14 Dataset Documentation (All datasets recorded with the lab iPhone 12 Pro) -All maps recorded with half on lights in Paul's lab +All maps recorded with half on lights in Paul's lab at night Maps: -ayush_nov_14_3 - Basic sweep of Paul's lab +ayush_nov30_1 - Basic sweep of Paul's lab - start point: Ayush ACE #1 (front left corner of lab table when facing into the lab) -- test: mimics mapping path -- testing_0AC24C4E-C4D2-4B9E-952D-0C44A2752EC2_ayush_nov_14_3: stay in the end part of paul's lab -- testing_26077932-EFC7-4B24-B7C6-DC6878E6B0D4_ayush_nov_14_3.tar : two lights on, full lab sweep -- testing_D942AA09-5F83-4A4A-9CED-D69B203027FD_ayush_nov_14_3.tar : lights off, full labish - -ayush_nov_14_4 - Start in Paul's lab, record QEA room -- start point: ACE Testing #1 (front corner of lab iMac Table) -- test: mimics mapping path -- testing_46F804E3-8948-43D0-BF64-2B7F00D6663F_ayush_nov_14_4.tar : random point in qea room as start -- testing_916E83DA-EB88-45D1-94FF-3A9705C91A0C_ayush_nov_14_4.tar : dim lights in qea room -- testing_632F9815-002B-4E7E-8BF2-ACA38DC26F4B_ayush_nov_14_4.tar : fast movement during localization in qea room +- test: mimics the mapping path +- testing_94D0E0FA-969F-42A9-9B6E-90750E8A28E9_ayush_nov30_1.tar: stay in the end part of paul's lab (same lighting) +- testing_834D9882-2910-4E2B-8CAB-F0FC0FB1C915_ayush_nov30_1.tar: start in the front of the lab, two lights on +- testing_F1567117-3BB1-497F-957F-FBECF9F56F33_ayush_nov30_1.tar: start in end part of lab, walk out and into the QEA room +- testing_B5227C47-2A46-4619-BCDF-242A5EE57075_ayush_nov30_1.tar: (MIGHT BE BAD) start in the end part, all lights off (cloud anchor didn't resolve) +- testing_5CA55EC2-488A-496C-8C64-D03EB170ACAD_ayush_nov30_1.tar: SANITY BAD! SHOULD BE BAD! just recorded in the QEA room (cloud anchor didn't resolve) +- testing_0668C249-AB9A-4A2C-988F-F6ED3A420894_ayush_nov30_1.tar: random starting point in daylight +- testing_D417435B-C2A0-40DF-A1B2-C09F143AB6D7_ayush_nov30_1.tar: random starting point in daylight +- testing_8E1E9222-15B0-4BDD-B9B1-3922F88E2B4B_ayush_nov30_1.tar: in daylight but with light on -ayush_nov_14_5 - Record Paul's lab and QEA room -- start point: Ayush ACE #1 (front left corner of lab table when facing into the lab) -- test: just localize in paul's lab -- testing_A88A09D0-DD39-4E9B-9688-93096690EB59_ayush_nov_14_5.tar : just qea room -- testing_1378446C-16A7-42D7-AE0A-FE15AF107C5C_ayush_nov_14_5.tar : furniture moved in pauls lab, just pauls lab +ayush_nov30_2 - Map of Paul's lab and QEA room +- start point: Ayush ACE #2 (higher window near door) +- test: mimics the mapping path +- testing_CD81156C-5CE9-49E8-B9C7-9754914CB715_ayush_nov30_2.tar: just paul's lab +- testing_ED89FDB3-A754-41AE-B91D-5F5C8E92F67D_ayush_nov30_2.tar: just QEA room +- testing_C7CB77B3-A217-43A5-AA4B-4900D0BB9021_ayush_nov30_2.tar: just qea room, dim lights +- testing_16365A15-B546-4914-9A65-9ECC76BB7D9E_ayush_nov30_2.tar: move furniture in paul's lab +ayush_nov30_3 - Map of front of Paul's lab and then out to the left (no reverse) +- start point: Ayush ACE #2 (higher window near door) +- test: go out and to the left +- testing_A804ACC8-4C4E-47DF-AD1B-2E456C9D7CDA_ayush_nov30_3.tar: mostly pauls lab and just outside +- testing_CBF93574-5FCA-4A88-A00E-01CEE08F9E11_ayush_nov30_3.tar: midpoint +- testing_0A955FDD-89AF-4207-A17B-44B0A1541B6C_ayush_nov30_3.tar: start at the end, move in reverse (cloud anchor only resolved at the end) +- testing_BC2FB0E7-E9F3-4B81-837E-41680333D199_ayush_nov30_3.tar: start in the middle, continue down the hall and then reverse in daylight +- testing_74725AA6-D3C8-40CD-8019-972387C48EF5_ayush_nov30_3.tar: reversed the path in daylight (cloud anchor didn't resolve) +- testing_0942DC39-D49D-4FC4-A721-268748280751_ayush_nov30_3.tar: start in pauls lab and go down the hall in daylight -ayush_nov_14_6 - Start in Paul's lab, walk out and to the left in the MAC (going for distance) -- start point: Ayush ACE #2 (higher window sill near door) +ayush_nov30_4 - Immediately go out and right from Paul's lab and reverse' +- start point: Ayush ACE #2 (higher window near door) - test: mimics mapping path -- testing_DB7B5083-3DF2-4B7B-94C3-58092F11AB4D_ayush_nov_14_6.tar : turned opposite direction, should have no localization -- testing_5F8501A2-AC9B-4E0C-8F47-3B66C6842071_ayush_nov_14_6.tar : started halfway down path, continued to end -- testing_585B19F6-1149-4406-BD34-042D4EC3E2CC_ayush_nov_14_6.tar : started at end, walked in reverse \ No newline at end of file +- testing_5C9197A3-C808-4512-897C-E94498D69F71_ayush_nov30_4.tar: walked the path in reverse starting in hallway and went into paul's lab +- testing_8B4E3C56-4FE0-4201-9DEB-3E158E10C53F_ayush_nov30_4.tar: out and to the left (SHOULD BE BAD?) +- testing_B66BBDB8-9392-4706-A7B6-5489C4A1CB60_ayush_nov30_4.tar: walked the forward path in daylight +- testing_F17CD6F2-48AB-420C-8AB7-640582635008_ayush_nov30_4.tar: walked the reverse path in daylight +- testing_F6183FC7-FA99-4DE8-9D3B-E04F6431BE5D_ayush_nov30_4.tar: walked forward in daylight (lower inlier count) \ No newline at end of file diff --git a/anchor/backend/data/ace.py b/anchor/backend/data/ace.py index 39fe450..0a0919f 100644 --- a/anchor/backend/data/ace.py +++ b/anchor/backend/data/ace.py @@ -222,7 +222,7 @@ def process_localization_phase( } ) - tmp_pose_path = Path(__file__).parent / "jsons/temp_pose_data.json" + tmp_pose_path = Path(__file__).parent / ".cache/jsons/temp_pose_data.json" with open(tmp_pose_path, "w") as file: json.dump({"data": poses}, file, indent=4) @@ -271,21 +271,21 @@ def process_training_data(combined_path: str, downloader: FirebaseDownloader): print("[INFO]: Running ace training on dataset path: ", extracted_ace_folder) os.chdir(Path(__file__).parent.parent.parent / "third_party/ace") - subprocess.run( - [ - "./train_ace.py", - extracted_ace_folder.as_posix(), - model_output.as_posix(), - "--render_visualization", - str(visualizer_enabled), - "--render_flipped_portrait", - str(render_flipped_portrait), - "--render_target_path", - render_target_path.as_posix(), - "--epochs", - str(training_epochs), - ] - ) + # subprocess.run( + # [ + # "./train_ace.py", + # extracted_ace_folder.as_posix(), + # model_output.as_posix(), + # "--render_visualization", + # str(visualizer_enabled), + # "--render_flipped_portrait", + # str(render_flipped_portrait), + # "--render_target_path", + # render_target_path.as_posix(), + # "--epochs", + # str(training_epochs), + # ] + # ) print("[INFO]: Running ace evaluation on dataset path: ", extracted_ace_folder) run_ace_evaluator( @@ -315,8 +315,7 @@ def process_training_data(combined_path: str, downloader: FirebaseDownloader): print("[INFO]: Moved tar from tarQueue to processedTars directory in firebase") ace_test_pose_file = ( - Path(tempfile.gettempdir()) - / f"benchmark/{Path(tar_name).stem}/ace/poses_ace_.txt" + downloader.root_download_dir / f"{Path(tar_name).stem}/ace/poses_ace_.txt" ) process_localization_phase(combined_path, downloader, ace_test_pose_file, True) @@ -372,14 +371,20 @@ def process_testing_data(combined_path: str, downloader: FirebaseDownloader): extracted_ace_folder = downloader.local_extraction_location / "ace" model_name = Path(combined_path).stem.split("training_")[-1] model_name = "_".join(model_name.split("_")[2:]) - model_data_folder = ( - Path(tempfile.gettempdir()) / f"benchmark/training_{model_name}/ace" - ) - model_weights_path = model_data_folder / "model.pt" - if not model_weights_path.exists(): - downloader.download_file( - f"iosLoggerDemo/trainedModels/{model_name}.pt", model_weights_path - ) + + for (dir, _, _) in os.walk(downloader.root_download_dir): + dir_path = Path(dir) + if str(dir_path).endswith(model_name) and dir_path.parts[-1].startswith("training_"): + model_data_folder = Path(dir) / "ace" + model_weights_path = model_data_folder / "model.pt" + break + else: + raise NotImplementedError + # if not model_weights_path.exists(): + # downloader.download_file( + # f"iosLoggerDemo/trainedModels/{model_name}.pt", model_weights_path + # ) + ace_test_pose_file = model_data_folder / "poses_ace_.txt" run_ace_evaluator( extracted_ace_folder, model_weights_path, False, True, extracted_ace_folder @@ -418,7 +423,6 @@ def process_testing_data(combined_path: str, downloader: FirebaseDownloader): ) downloader.extract_ios_logger_tar() - if Path(combined_path).parts[-1].startswith("training"): process_training_data(combined_path, downloader) elif Path(combined_path).parts[-1].startswith("testing"): diff --git a/anchor/backend/data/firebase.py b/anchor/backend/data/firebase.py index 837f50a..a63ef1c 100644 --- a/anchor/backend/data/firebase.py +++ b/anchor/backend/data/firebase.py @@ -21,14 +21,13 @@ def list_tars(): initialize_app(cred) FirebaseDownloader.initialized = True bucket = storage.bucket(FirebaseDownloader.firebase_bucket_name) - tar_queue = "iosLoggerDemo/tarQueue/" + tar_queue = "iosLoggerDemo/processedTrainingTars/" tars = bucket.list_blobs(prefix=tar_queue) tar_names = [] for tar in tars: - print(tar.name) - if tar.name.endswith(".tar"): + if tar.name.endswith(".tar") and "ayush_april_7" in tar.name: tar_names.append(tar.name) return tar_names @@ -44,7 +43,7 @@ class FirebaseDownloader: initialized: bool = False # the root of where we download - root_download_dir: Path = Path(tempfile.gettempdir()) / "benchmark" + root_download_dir: Path = Path(__file__).parent / ".cache/firebase_data" def __init__(self, firebase_dir: str, tar_name: str): # initialize_app should be called only once globally @@ -103,26 +102,24 @@ def extract_ios_logger_tar(self) -> Path: f"[INFO]: Downloaded tar {self.tar_name} as it has not been found locally" ) - # # unpack the tar itself and cleanup and previous extractions - # shutil.rmtree(self.local_extraction_location, ignore_errors=True) - # shutil.unpack_archive( - # self.local_tar_location, extract_dir=self.local_extraction_location - # ) + shutil.unpack_archive( + self.local_tar_location, extract_dir=self.local_extraction_location + ) # extract the videos by phase (test videos will not have mapping data so they need to be handled separately) if (self.local_extraction_location / "mapping-video.mp4").exists(): - self.extract_ios_logger_video( - self.local_extraction_location / "mapping-video.mp4", True - ) + # self.extract_ios_logger_video( + # self.local_extraction_location / "mapping-video.mp4", True + # ) self.extract_intrinsics(self.local_extraction_location, True) self.extract_pose(self.local_extraction_location, True) self.extract_april_tags(self.local_extraction_location, True) self.extract_google_cloud_anchors(self.local_extraction_location, True) if (self.local_extraction_location / "localization-video.mp4").exists(): - self.extract_ios_logger_video( - self.local_extraction_location / "localization-video.mp4", False - ) + # self.extract_ios_logger_video( + # self.local_extraction_location / "localization-video.mp4", False + # ) self.extract_intrinsics(self.local_extraction_location, False) self.extract_pose(self.local_extraction_location, False) self.extract_april_tags(self.local_extraction_location, False) diff --git a/anchor/backend/data/proto/accelerometer_pb2.py b/anchor/backend/data/proto/accelerometer_pb2.py new file mode 100644 index 0000000..704cb7a --- /dev/null +++ b/anchor/backend/data/proto/accelerometer_pb2.py @@ -0,0 +1,222 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: accelerometer.proto + +from google.protobuf import descriptor as _descriptor +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor.FileDescriptor( + name='accelerometer.proto', + package='', + syntax='proto3', + serialized_options=None, + create_key=_descriptor._internal_create_key, + serialized_pb=b'\n\x13\x61\x63\x63\x65lerometer.proto\"p\n\x16\x41\x63\x63\x65lerometerTimestamp\x12\x11\n\ttimestamp\x18\x01 \x01(\x01\x12\x15\n\rxAcceleration\x18\x02 \x01(\x01\x12\x15\n\ryAcceleration\x18\x03 \x01(\x01\x12\x15\n\rzAcceleration\x18\x04 \x01(\x01\"\x8e\x02\n\x11\x41\x63\x63\x65lerometerData\x12\x35\n\x0cmappingPhase\x18\x01 \x01(\x0b\x32\x1f.AccelerometerData.MappingPhase\x12?\n\x11localizationPhase\x18\x02 \x01(\x0b\x32$.AccelerometerData.LocalizationPhase\x1a=\n\x0cMappingPhase\x12-\n\x0cmeasurements\x18\x01 \x03(\x0b\x32\x17.AccelerometerTimestamp\x1a\x42\n\x11LocalizationPhase\x12-\n\x0cmeasurements\x18\x01 \x03(\x0b\x32\x17.AccelerometerTimestampb\x06proto3' +) + + + + +_ACCELEROMETERTIMESTAMP = _descriptor.Descriptor( + name='AccelerometerTimestamp', + full_name='AccelerometerTimestamp', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='timestamp', full_name='AccelerometerTimestamp.timestamp', index=0, + number=1, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='xAcceleration', full_name='AccelerometerTimestamp.xAcceleration', index=1, + number=2, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='yAcceleration', full_name='AccelerometerTimestamp.yAcceleration', index=2, + number=3, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='zAcceleration', full_name='AccelerometerTimestamp.zAcceleration', index=3, + number=4, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=23, + serialized_end=135, +) + + +_ACCELEROMETERDATA_MAPPINGPHASE = _descriptor.Descriptor( + name='MappingPhase', + full_name='AccelerometerData.MappingPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='measurements', full_name='AccelerometerData.MappingPhase.measurements', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=279, + serialized_end=340, +) + +_ACCELEROMETERDATA_LOCALIZATIONPHASE = _descriptor.Descriptor( + name='LocalizationPhase', + full_name='AccelerometerData.LocalizationPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='measurements', full_name='AccelerometerData.LocalizationPhase.measurements', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=342, + serialized_end=408, +) + +_ACCELEROMETERDATA = _descriptor.Descriptor( + name='AccelerometerData', + full_name='AccelerometerData', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='mappingPhase', full_name='AccelerometerData.mappingPhase', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='localizationPhase', full_name='AccelerometerData.localizationPhase', index=1, + number=2, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[_ACCELEROMETERDATA_MAPPINGPHASE, _ACCELEROMETERDATA_LOCALIZATIONPHASE, ], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=138, + serialized_end=408, +) + +_ACCELEROMETERDATA_MAPPINGPHASE.fields_by_name['measurements'].message_type = _ACCELEROMETERTIMESTAMP +_ACCELEROMETERDATA_MAPPINGPHASE.containing_type = _ACCELEROMETERDATA +_ACCELEROMETERDATA_LOCALIZATIONPHASE.fields_by_name['measurements'].message_type = _ACCELEROMETERTIMESTAMP +_ACCELEROMETERDATA_LOCALIZATIONPHASE.containing_type = _ACCELEROMETERDATA +_ACCELEROMETERDATA.fields_by_name['mappingPhase'].message_type = _ACCELEROMETERDATA_MAPPINGPHASE +_ACCELEROMETERDATA.fields_by_name['localizationPhase'].message_type = _ACCELEROMETERDATA_LOCALIZATIONPHASE +DESCRIPTOR.message_types_by_name['AccelerometerTimestamp'] = _ACCELEROMETERTIMESTAMP +DESCRIPTOR.message_types_by_name['AccelerometerData'] = _ACCELEROMETERDATA +_sym_db.RegisterFileDescriptor(DESCRIPTOR) + +AccelerometerTimestamp = _reflection.GeneratedProtocolMessageType('AccelerometerTimestamp', (_message.Message,), { + 'DESCRIPTOR' : _ACCELEROMETERTIMESTAMP, + '__module__' : 'accelerometer_pb2' + # @@protoc_insertion_point(class_scope:AccelerometerTimestamp) + }) +_sym_db.RegisterMessage(AccelerometerTimestamp) + +AccelerometerData = _reflection.GeneratedProtocolMessageType('AccelerometerData', (_message.Message,), { + + 'MappingPhase' : _reflection.GeneratedProtocolMessageType('MappingPhase', (_message.Message,), { + 'DESCRIPTOR' : _ACCELEROMETERDATA_MAPPINGPHASE, + '__module__' : 'accelerometer_pb2' + # @@protoc_insertion_point(class_scope:AccelerometerData.MappingPhase) + }) + , + + 'LocalizationPhase' : _reflection.GeneratedProtocolMessageType('LocalizationPhase', (_message.Message,), { + 'DESCRIPTOR' : _ACCELEROMETERDATA_LOCALIZATIONPHASE, + '__module__' : 'accelerometer_pb2' + # @@protoc_insertion_point(class_scope:AccelerometerData.LocalizationPhase) + }) + , + 'DESCRIPTOR' : _ACCELEROMETERDATA, + '__module__' : 'accelerometer_pb2' + # @@protoc_insertion_point(class_scope:AccelerometerData) + }) +_sym_db.RegisterMessage(AccelerometerData) +_sym_db.RegisterMessage(AccelerometerData.MappingPhase) +_sym_db.RegisterMessage(AccelerometerData.LocalizationPhase) + + +# @@protoc_insertion_point(module_scope) diff --git a/anchor/backend/data/proto/april_tag_pb2.py b/anchor/backend/data/proto/april_tag_pb2.py new file mode 100644 index 0000000..88c50fb --- /dev/null +++ b/anchor/backend/data/proto/april_tag_pb2.py @@ -0,0 +1,208 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: april_tag.proto + +from google.protobuf import descriptor as _descriptor +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor.FileDescriptor( + name='april_tag.proto', + package='', + syntax='proto3', + serialized_options=None, + create_key=_descriptor._internal_create_key, + serialized_pb=b'\n\x0f\x61pril_tag.proto\"=\n\x11\x41prilTagTimestamp\x12\x11\n\ttimestamp\x18\x01 \x01(\x01\x12\x15\n\rtagCenterPose\x18\x02 \x03(\x02\"\xf5\x01\n\x0c\x41prilTagData\x12\x30\n\x0cmappingPhase\x18\x01 \x01(\x0b\x32\x1a.AprilTagData.MappingPhase\x12:\n\x11localizationPhase\x18\x02 \x01(\x0b\x32\x1f.AprilTagData.LocalizationPhase\x1a\x38\n\x0cMappingPhase\x12(\n\x0cmeasurements\x18\x01 \x03(\x0b\x32\x12.AprilTagTimestamp\x1a=\n\x11LocalizationPhase\x12(\n\x0cmeasurements\x18\x01 \x03(\x0b\x32\x12.AprilTagTimestampb\x06proto3' +) + + + + +_APRILTAGTIMESTAMP = _descriptor.Descriptor( + name='AprilTagTimestamp', + full_name='AprilTagTimestamp', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='timestamp', full_name='AprilTagTimestamp.timestamp', index=0, + number=1, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='tagCenterPose', full_name='AprilTagTimestamp.tagCenterPose', index=1, + number=2, type=2, cpp_type=6, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=19, + serialized_end=80, +) + + +_APRILTAGDATA_MAPPINGPHASE = _descriptor.Descriptor( + name='MappingPhase', + full_name='AprilTagData.MappingPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='measurements', full_name='AprilTagData.MappingPhase.measurements', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=209, + serialized_end=265, +) + +_APRILTAGDATA_LOCALIZATIONPHASE = _descriptor.Descriptor( + name='LocalizationPhase', + full_name='AprilTagData.LocalizationPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='measurements', full_name='AprilTagData.LocalizationPhase.measurements', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=267, + serialized_end=328, +) + +_APRILTAGDATA = _descriptor.Descriptor( + name='AprilTagData', + full_name='AprilTagData', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='mappingPhase', full_name='AprilTagData.mappingPhase', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='localizationPhase', full_name='AprilTagData.localizationPhase', index=1, + number=2, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[_APRILTAGDATA_MAPPINGPHASE, _APRILTAGDATA_LOCALIZATIONPHASE, ], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=83, + serialized_end=328, +) + +_APRILTAGDATA_MAPPINGPHASE.fields_by_name['measurements'].message_type = _APRILTAGTIMESTAMP +_APRILTAGDATA_MAPPINGPHASE.containing_type = _APRILTAGDATA +_APRILTAGDATA_LOCALIZATIONPHASE.fields_by_name['measurements'].message_type = _APRILTAGTIMESTAMP +_APRILTAGDATA_LOCALIZATIONPHASE.containing_type = _APRILTAGDATA +_APRILTAGDATA.fields_by_name['mappingPhase'].message_type = _APRILTAGDATA_MAPPINGPHASE +_APRILTAGDATA.fields_by_name['localizationPhase'].message_type = _APRILTAGDATA_LOCALIZATIONPHASE +DESCRIPTOR.message_types_by_name['AprilTagTimestamp'] = _APRILTAGTIMESTAMP +DESCRIPTOR.message_types_by_name['AprilTagData'] = _APRILTAGDATA +_sym_db.RegisterFileDescriptor(DESCRIPTOR) + +AprilTagTimestamp = _reflection.GeneratedProtocolMessageType('AprilTagTimestamp', (_message.Message,), { + 'DESCRIPTOR' : _APRILTAGTIMESTAMP, + '__module__' : 'april_tag_pb2' + # @@protoc_insertion_point(class_scope:AprilTagTimestamp) + }) +_sym_db.RegisterMessage(AprilTagTimestamp) + +AprilTagData = _reflection.GeneratedProtocolMessageType('AprilTagData', (_message.Message,), { + + 'MappingPhase' : _reflection.GeneratedProtocolMessageType('MappingPhase', (_message.Message,), { + 'DESCRIPTOR' : _APRILTAGDATA_MAPPINGPHASE, + '__module__' : 'april_tag_pb2' + # @@protoc_insertion_point(class_scope:AprilTagData.MappingPhase) + }) + , + + 'LocalizationPhase' : _reflection.GeneratedProtocolMessageType('LocalizationPhase', (_message.Message,), { + 'DESCRIPTOR' : _APRILTAGDATA_LOCALIZATIONPHASE, + '__module__' : 'april_tag_pb2' + # @@protoc_insertion_point(class_scope:AprilTagData.LocalizationPhase) + }) + , + 'DESCRIPTOR' : _APRILTAGDATA, + '__module__' : 'april_tag_pb2' + # @@protoc_insertion_point(class_scope:AprilTagData) + }) +_sym_db.RegisterMessage(AprilTagData) +_sym_db.RegisterMessage(AprilTagData.MappingPhase) +_sym_db.RegisterMessage(AprilTagData.LocalizationPhase) + + +# @@protoc_insertion_point(module_scope) diff --git a/anchor/backend/data/proto/google_cloud_anchor_pb2.py b/anchor/backend/data/proto/google_cloud_anchor_pb2.py new file mode 100644 index 0000000..49f8c00 --- /dev/null +++ b/anchor/backend/data/proto/google_cloud_anchor_pb2.py @@ -0,0 +1,290 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: google_cloud_anchor.proto + +from google.protobuf import descriptor as _descriptor +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor.FileDescriptor( + name='google_cloud_anchor.proto', + package='', + syntax='proto3', + serialized_options=None, + create_key=_descriptor._internal_create_key, + serialized_pb=b'\n\x19google_cloud_anchor.proto\"\xc7\x01\n\x12\x43loudAnchorResolve\x12\x11\n\ttimestamp\x18\x01 \x01(\x01\x12\x17\n\x0f\x63loudAnchorName\x18\x02 \x01(\t\x12\x1f\n\x17resolvedCloudAnchorName\x18\x03 \x01(\t\x12\x19\n\x11\x61nchorTranslation\x18\x04 \x03(\x02\x12\x17\n\x0f\x61nchorRotMatrix\x18\x05 \x03(\x02\x12\x18\n\x10\x61rkitTranslation\x18\x06 \x03(\x02\x12\x16\n\x0e\x61rkitRotMatrix\x18\x07 \x03(\x02\"L\n\x0f\x43loudAnchorHost\x12\x17\n\x0f\x63loudAnchorName\x18\x01 \x01(\t\x12 \n\x18\x61nchorHostRotationMatrix\x18\x02 \x03(\x02\"\x98\x02\n\x15GoogleCloudAnchorData\x12\x39\n\x0cmappingPhase\x18\x01 \x01(\x0b\x32#.GoogleCloudAnchorData.MappingPhase\x12\x43\n\x11localizationPhase\x18\x02 \x01(\x0b\x32(.GoogleCloudAnchorData.LocalizationPhase\x1a\x39\n\x0cMappingPhase\x12)\n\x0f\x63loudAnchorHost\x18\x01 \x01(\x0b\x32\x10.CloudAnchorHost\x1a\x44\n\x11LocalizationPhase\x12/\n\x12\x63loudAnchorResolve\x18\x01 \x03(\x0b\x32\x13.CloudAnchorResolveb\x06proto3' +) + + + + +_CLOUDANCHORRESOLVE = _descriptor.Descriptor( + name='CloudAnchorResolve', + full_name='CloudAnchorResolve', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='timestamp', full_name='CloudAnchorResolve.timestamp', index=0, + number=1, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='cloudAnchorName', full_name='CloudAnchorResolve.cloudAnchorName', index=1, + number=2, type=9, cpp_type=9, label=1, + has_default_value=False, default_value=b"".decode('utf-8'), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='resolvedCloudAnchorName', full_name='CloudAnchorResolve.resolvedCloudAnchorName', index=2, + number=3, type=9, cpp_type=9, label=1, + has_default_value=False, default_value=b"".decode('utf-8'), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='anchorTranslation', full_name='CloudAnchorResolve.anchorTranslation', index=3, + number=4, type=2, cpp_type=6, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='anchorRotMatrix', full_name='CloudAnchorResolve.anchorRotMatrix', index=4, + number=5, type=2, cpp_type=6, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='arkitTranslation', full_name='CloudAnchorResolve.arkitTranslation', index=5, + number=6, type=2, cpp_type=6, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='arkitRotMatrix', full_name='CloudAnchorResolve.arkitRotMatrix', index=6, + number=7, type=2, cpp_type=6, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=30, + serialized_end=229, +) + + +_CLOUDANCHORHOST = _descriptor.Descriptor( + name='CloudAnchorHost', + full_name='CloudAnchorHost', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='cloudAnchorName', full_name='CloudAnchorHost.cloudAnchorName', index=0, + number=1, type=9, cpp_type=9, label=1, + has_default_value=False, default_value=b"".decode('utf-8'), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='anchorHostRotationMatrix', full_name='CloudAnchorHost.anchorHostRotationMatrix', index=1, + number=2, type=2, cpp_type=6, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=231, + serialized_end=307, +) + + +_GOOGLECLOUDANCHORDATA_MAPPINGPHASE = _descriptor.Descriptor( + name='MappingPhase', + full_name='GoogleCloudAnchorData.MappingPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='cloudAnchorHost', full_name='GoogleCloudAnchorData.MappingPhase.cloudAnchorHost', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=463, + serialized_end=520, +) + +_GOOGLECLOUDANCHORDATA_LOCALIZATIONPHASE = _descriptor.Descriptor( + name='LocalizationPhase', + full_name='GoogleCloudAnchorData.LocalizationPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='cloudAnchorResolve', full_name='GoogleCloudAnchorData.LocalizationPhase.cloudAnchorResolve', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=522, + serialized_end=590, +) + +_GOOGLECLOUDANCHORDATA = _descriptor.Descriptor( + name='GoogleCloudAnchorData', + full_name='GoogleCloudAnchorData', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='mappingPhase', full_name='GoogleCloudAnchorData.mappingPhase', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='localizationPhase', full_name='GoogleCloudAnchorData.localizationPhase', index=1, + number=2, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[_GOOGLECLOUDANCHORDATA_MAPPINGPHASE, _GOOGLECLOUDANCHORDATA_LOCALIZATIONPHASE, ], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=310, + serialized_end=590, +) + +_GOOGLECLOUDANCHORDATA_MAPPINGPHASE.fields_by_name['cloudAnchorHost'].message_type = _CLOUDANCHORHOST +_GOOGLECLOUDANCHORDATA_MAPPINGPHASE.containing_type = _GOOGLECLOUDANCHORDATA +_GOOGLECLOUDANCHORDATA_LOCALIZATIONPHASE.fields_by_name['cloudAnchorResolve'].message_type = _CLOUDANCHORRESOLVE +_GOOGLECLOUDANCHORDATA_LOCALIZATIONPHASE.containing_type = _GOOGLECLOUDANCHORDATA +_GOOGLECLOUDANCHORDATA.fields_by_name['mappingPhase'].message_type = _GOOGLECLOUDANCHORDATA_MAPPINGPHASE +_GOOGLECLOUDANCHORDATA.fields_by_name['localizationPhase'].message_type = _GOOGLECLOUDANCHORDATA_LOCALIZATIONPHASE +DESCRIPTOR.message_types_by_name['CloudAnchorResolve'] = _CLOUDANCHORRESOLVE +DESCRIPTOR.message_types_by_name['CloudAnchorHost'] = _CLOUDANCHORHOST +DESCRIPTOR.message_types_by_name['GoogleCloudAnchorData'] = _GOOGLECLOUDANCHORDATA +_sym_db.RegisterFileDescriptor(DESCRIPTOR) + +CloudAnchorResolve = _reflection.GeneratedProtocolMessageType('CloudAnchorResolve', (_message.Message,), { + 'DESCRIPTOR' : _CLOUDANCHORRESOLVE, + '__module__' : 'google_cloud_anchor_pb2' + # @@protoc_insertion_point(class_scope:CloudAnchorResolve) + }) +_sym_db.RegisterMessage(CloudAnchorResolve) + +CloudAnchorHost = _reflection.GeneratedProtocolMessageType('CloudAnchorHost', (_message.Message,), { + 'DESCRIPTOR' : _CLOUDANCHORHOST, + '__module__' : 'google_cloud_anchor_pb2' + # @@protoc_insertion_point(class_scope:CloudAnchorHost) + }) +_sym_db.RegisterMessage(CloudAnchorHost) + +GoogleCloudAnchorData = _reflection.GeneratedProtocolMessageType('GoogleCloudAnchorData', (_message.Message,), { + + 'MappingPhase' : _reflection.GeneratedProtocolMessageType('MappingPhase', (_message.Message,), { + 'DESCRIPTOR' : _GOOGLECLOUDANCHORDATA_MAPPINGPHASE, + '__module__' : 'google_cloud_anchor_pb2' + # @@protoc_insertion_point(class_scope:GoogleCloudAnchorData.MappingPhase) + }) + , + + 'LocalizationPhase' : _reflection.GeneratedProtocolMessageType('LocalizationPhase', (_message.Message,), { + 'DESCRIPTOR' : _GOOGLECLOUDANCHORDATA_LOCALIZATIONPHASE, + '__module__' : 'google_cloud_anchor_pb2' + # @@protoc_insertion_point(class_scope:GoogleCloudAnchorData.LocalizationPhase) + }) + , + 'DESCRIPTOR' : _GOOGLECLOUDANCHORDATA, + '__module__' : 'google_cloud_anchor_pb2' + # @@protoc_insertion_point(class_scope:GoogleCloudAnchorData) + }) +_sym_db.RegisterMessage(GoogleCloudAnchorData) +_sym_db.RegisterMessage(GoogleCloudAnchorData.MappingPhase) +_sym_db.RegisterMessage(GoogleCloudAnchorData.LocalizationPhase) + + +# @@protoc_insertion_point(module_scope) diff --git a/anchor/backend/data/proto/gyro_pb2.py b/anchor/backend/data/proto/gyro_pb2.py new file mode 100644 index 0000000..ab44e00 --- /dev/null +++ b/anchor/backend/data/proto/gyro_pb2.py @@ -0,0 +1,222 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: gyro.proto + +from google.protobuf import descriptor as _descriptor +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor.FileDescriptor( + name='gyro.proto', + package='', + syntax='proto3', + serialized_options=None, + create_key=_descriptor._internal_create_key, + serialized_pb=b'\n\ngyro.proto\"g\n\rGyroTimestamp\x12\x11\n\ttimestamp\x18\x01 \x01(\x01\x12\x15\n\rxRotationRate\x18\x02 \x01(\x01\x12\x15\n\ryRotationRate\x18\x03 \x01(\x01\x12\x15\n\rzRotationRate\x18\x04 \x01(\x01\"\xe1\x01\n\x08GyroData\x12,\n\x0cmappingPhase\x18\x01 \x01(\x0b\x32\x16.GyroData.MappingPhase\x12\x36\n\x11localizationPhase\x18\x02 \x01(\x0b\x32\x1b.GyroData.LocalizationPhase\x1a\x34\n\x0cMappingPhase\x12$\n\x0cmeasurements\x18\x01 \x03(\x0b\x32\x0e.GyroTimestamp\x1a\x39\n\x11LocalizationPhase\x12$\n\x0cmeasurements\x18\x01 \x03(\x0b\x32\x0e.GyroTimestampb\x06proto3' +) + + + + +_GYROTIMESTAMP = _descriptor.Descriptor( + name='GyroTimestamp', + full_name='GyroTimestamp', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='timestamp', full_name='GyroTimestamp.timestamp', index=0, + number=1, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='xRotationRate', full_name='GyroTimestamp.xRotationRate', index=1, + number=2, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='yRotationRate', full_name='GyroTimestamp.yRotationRate', index=2, + number=3, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='zRotationRate', full_name='GyroTimestamp.zRotationRate', index=3, + number=4, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=14, + serialized_end=117, +) + + +_GYRODATA_MAPPINGPHASE = _descriptor.Descriptor( + name='MappingPhase', + full_name='GyroData.MappingPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='measurements', full_name='GyroData.MappingPhase.measurements', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=234, + serialized_end=286, +) + +_GYRODATA_LOCALIZATIONPHASE = _descriptor.Descriptor( + name='LocalizationPhase', + full_name='GyroData.LocalizationPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='measurements', full_name='GyroData.LocalizationPhase.measurements', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=288, + serialized_end=345, +) + +_GYRODATA = _descriptor.Descriptor( + name='GyroData', + full_name='GyroData', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='mappingPhase', full_name='GyroData.mappingPhase', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='localizationPhase', full_name='GyroData.localizationPhase', index=1, + number=2, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[_GYRODATA_MAPPINGPHASE, _GYRODATA_LOCALIZATIONPHASE, ], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=120, + serialized_end=345, +) + +_GYRODATA_MAPPINGPHASE.fields_by_name['measurements'].message_type = _GYROTIMESTAMP +_GYRODATA_MAPPINGPHASE.containing_type = _GYRODATA +_GYRODATA_LOCALIZATIONPHASE.fields_by_name['measurements'].message_type = _GYROTIMESTAMP +_GYRODATA_LOCALIZATIONPHASE.containing_type = _GYRODATA +_GYRODATA.fields_by_name['mappingPhase'].message_type = _GYRODATA_MAPPINGPHASE +_GYRODATA.fields_by_name['localizationPhase'].message_type = _GYRODATA_LOCALIZATIONPHASE +DESCRIPTOR.message_types_by_name['GyroTimestamp'] = _GYROTIMESTAMP +DESCRIPTOR.message_types_by_name['GyroData'] = _GYRODATA +_sym_db.RegisterFileDescriptor(DESCRIPTOR) + +GyroTimestamp = _reflection.GeneratedProtocolMessageType('GyroTimestamp', (_message.Message,), { + 'DESCRIPTOR' : _GYROTIMESTAMP, + '__module__' : 'gyro_pb2' + # @@protoc_insertion_point(class_scope:GyroTimestamp) + }) +_sym_db.RegisterMessage(GyroTimestamp) + +GyroData = _reflection.GeneratedProtocolMessageType('GyroData', (_message.Message,), { + + 'MappingPhase' : _reflection.GeneratedProtocolMessageType('MappingPhase', (_message.Message,), { + 'DESCRIPTOR' : _GYRODATA_MAPPINGPHASE, + '__module__' : 'gyro_pb2' + # @@protoc_insertion_point(class_scope:GyroData.MappingPhase) + }) + , + + 'LocalizationPhase' : _reflection.GeneratedProtocolMessageType('LocalizationPhase', (_message.Message,), { + 'DESCRIPTOR' : _GYRODATA_LOCALIZATIONPHASE, + '__module__' : 'gyro_pb2' + # @@protoc_insertion_point(class_scope:GyroData.LocalizationPhase) + }) + , + 'DESCRIPTOR' : _GYRODATA, + '__module__' : 'gyro_pb2' + # @@protoc_insertion_point(class_scope:GyroData) + }) +_sym_db.RegisterMessage(GyroData) +_sym_db.RegisterMessage(GyroData.MappingPhase) +_sym_db.RegisterMessage(GyroData.LocalizationPhase) + + +# @@protoc_insertion_point(module_scope) diff --git a/anchor/backend/data/proto/intrinsics_pb2.py b/anchor/backend/data/proto/intrinsics_pb2.py new file mode 100644 index 0000000..d377bd4 --- /dev/null +++ b/anchor/backend/data/proto/intrinsics_pb2.py @@ -0,0 +1,208 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: intrinsics.proto + +from google.protobuf import descriptor as _descriptor +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor.FileDescriptor( + name='intrinsics.proto', + package='', + syntax='proto3', + serialized_options=None, + create_key=_descriptor._internal_create_key, + serialized_pb=b'\n\x10intrinsics.proto\"B\n\x13IntrinsicsTimestamp\x12\x11\n\ttimestamp\x18\x01 \x01(\x01\x12\x18\n\x10\x63\x61meraIntrinsics\x18\x02 \x03(\x02\"\xff\x01\n\x0eIntrinsicsData\x12\x32\n\x0cmappingPhase\x18\x01 \x01(\x0b\x32\x1c.IntrinsicsData.MappingPhase\x12<\n\x11localizationPhase\x18\x02 \x01(\x0b\x32!.IntrinsicsData.LocalizationPhase\x1a:\n\x0cMappingPhase\x12*\n\x0cmeasurements\x18\x01 \x03(\x0b\x32\x14.IntrinsicsTimestamp\x1a?\n\x11LocalizationPhase\x12*\n\x0cmeasurements\x18\x01 \x03(\x0b\x32\x14.IntrinsicsTimestampb\x06proto3' +) + + + + +_INTRINSICSTIMESTAMP = _descriptor.Descriptor( + name='IntrinsicsTimestamp', + full_name='IntrinsicsTimestamp', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='timestamp', full_name='IntrinsicsTimestamp.timestamp', index=0, + number=1, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='cameraIntrinsics', full_name='IntrinsicsTimestamp.cameraIntrinsics', index=1, + number=2, type=2, cpp_type=6, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=20, + serialized_end=86, +) + + +_INTRINSICSDATA_MAPPINGPHASE = _descriptor.Descriptor( + name='MappingPhase', + full_name='IntrinsicsData.MappingPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='measurements', full_name='IntrinsicsData.MappingPhase.measurements', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=221, + serialized_end=279, +) + +_INTRINSICSDATA_LOCALIZATIONPHASE = _descriptor.Descriptor( + name='LocalizationPhase', + full_name='IntrinsicsData.LocalizationPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='measurements', full_name='IntrinsicsData.LocalizationPhase.measurements', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=281, + serialized_end=344, +) + +_INTRINSICSDATA = _descriptor.Descriptor( + name='IntrinsicsData', + full_name='IntrinsicsData', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='mappingPhase', full_name='IntrinsicsData.mappingPhase', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='localizationPhase', full_name='IntrinsicsData.localizationPhase', index=1, + number=2, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[_INTRINSICSDATA_MAPPINGPHASE, _INTRINSICSDATA_LOCALIZATIONPHASE, ], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=89, + serialized_end=344, +) + +_INTRINSICSDATA_MAPPINGPHASE.fields_by_name['measurements'].message_type = _INTRINSICSTIMESTAMP +_INTRINSICSDATA_MAPPINGPHASE.containing_type = _INTRINSICSDATA +_INTRINSICSDATA_LOCALIZATIONPHASE.fields_by_name['measurements'].message_type = _INTRINSICSTIMESTAMP +_INTRINSICSDATA_LOCALIZATIONPHASE.containing_type = _INTRINSICSDATA +_INTRINSICSDATA.fields_by_name['mappingPhase'].message_type = _INTRINSICSDATA_MAPPINGPHASE +_INTRINSICSDATA.fields_by_name['localizationPhase'].message_type = _INTRINSICSDATA_LOCALIZATIONPHASE +DESCRIPTOR.message_types_by_name['IntrinsicsTimestamp'] = _INTRINSICSTIMESTAMP +DESCRIPTOR.message_types_by_name['IntrinsicsData'] = _INTRINSICSDATA +_sym_db.RegisterFileDescriptor(DESCRIPTOR) + +IntrinsicsTimestamp = _reflection.GeneratedProtocolMessageType('IntrinsicsTimestamp', (_message.Message,), { + 'DESCRIPTOR' : _INTRINSICSTIMESTAMP, + '__module__' : 'intrinsics_pb2' + # @@protoc_insertion_point(class_scope:IntrinsicsTimestamp) + }) +_sym_db.RegisterMessage(IntrinsicsTimestamp) + +IntrinsicsData = _reflection.GeneratedProtocolMessageType('IntrinsicsData', (_message.Message,), { + + 'MappingPhase' : _reflection.GeneratedProtocolMessageType('MappingPhase', (_message.Message,), { + 'DESCRIPTOR' : _INTRINSICSDATA_MAPPINGPHASE, + '__module__' : 'intrinsics_pb2' + # @@protoc_insertion_point(class_scope:IntrinsicsData.MappingPhase) + }) + , + + 'LocalizationPhase' : _reflection.GeneratedProtocolMessageType('LocalizationPhase', (_message.Message,), { + 'DESCRIPTOR' : _INTRINSICSDATA_LOCALIZATIONPHASE, + '__module__' : 'intrinsics_pb2' + # @@protoc_insertion_point(class_scope:IntrinsicsData.LocalizationPhase) + }) + , + 'DESCRIPTOR' : _INTRINSICSDATA, + '__module__' : 'intrinsics_pb2' + # @@protoc_insertion_point(class_scope:IntrinsicsData) + }) +_sym_db.RegisterMessage(IntrinsicsData) +_sym_db.RegisterMessage(IntrinsicsData.MappingPhase) +_sym_db.RegisterMessage(IntrinsicsData.LocalizationPhase) + + +# @@protoc_insertion_point(module_scope) diff --git a/anchor/backend/data/proto/lidar_pb2.py b/anchor/backend/data/proto/lidar_pb2.py new file mode 100644 index 0000000..33fde77 --- /dev/null +++ b/anchor/backend/data/proto/lidar_pb2.py @@ -0,0 +1,215 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: lidar.proto + +from google.protobuf import descriptor as _descriptor +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor.FileDescriptor( + name='lidar.proto', + package='', + syntax='proto3', + serialized_options=None, + create_key=_descriptor._internal_create_key, + serialized_pb=b'\n\x0blidar.proto\"@\n\x0eLidarTimestamp\x12\x11\n\ttimestamp\x18\x01 \x01(\x01\x12\r\n\x05lidar\x18\x02 \x03(\x02\x12\x0c\n\x04\x63onf\x18\x03 \x03(\r\"\xe6\x01\n\tLidarData\x12-\n\x0cmappingPhase\x18\x01 \x01(\x0b\x32\x17.LidarData.MappingPhase\x12\x37\n\x11localizationPhase\x18\x02 \x01(\x0b\x32\x1c.LidarData.LocalizationPhase\x1a\x35\n\x0cMappingPhase\x12%\n\x0cmeasurements\x18\x01 \x03(\x0b\x32\x0f.LidarTimestamp\x1a:\n\x11LocalizationPhase\x12%\n\x0cmeasurements\x18\x01 \x03(\x0b\x32\x0f.LidarTimestampb\x06proto3' +) + + + + +_LIDARTIMESTAMP = _descriptor.Descriptor( + name='LidarTimestamp', + full_name='LidarTimestamp', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='timestamp', full_name='LidarTimestamp.timestamp', index=0, + number=1, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='lidar', full_name='LidarTimestamp.lidar', index=1, + number=2, type=2, cpp_type=6, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='conf', full_name='LidarTimestamp.conf', index=2, + number=3, type=13, cpp_type=3, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=15, + serialized_end=79, +) + + +_LIDARDATA_MAPPINGPHASE = _descriptor.Descriptor( + name='MappingPhase', + full_name='LidarData.MappingPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='measurements', full_name='LidarData.MappingPhase.measurements', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=199, + serialized_end=252, +) + +_LIDARDATA_LOCALIZATIONPHASE = _descriptor.Descriptor( + name='LocalizationPhase', + full_name='LidarData.LocalizationPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='measurements', full_name='LidarData.LocalizationPhase.measurements', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=254, + serialized_end=312, +) + +_LIDARDATA = _descriptor.Descriptor( + name='LidarData', + full_name='LidarData', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='mappingPhase', full_name='LidarData.mappingPhase', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='localizationPhase', full_name='LidarData.localizationPhase', index=1, + number=2, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[_LIDARDATA_MAPPINGPHASE, _LIDARDATA_LOCALIZATIONPHASE, ], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=82, + serialized_end=312, +) + +_LIDARDATA_MAPPINGPHASE.fields_by_name['measurements'].message_type = _LIDARTIMESTAMP +_LIDARDATA_MAPPINGPHASE.containing_type = _LIDARDATA +_LIDARDATA_LOCALIZATIONPHASE.fields_by_name['measurements'].message_type = _LIDARTIMESTAMP +_LIDARDATA_LOCALIZATIONPHASE.containing_type = _LIDARDATA +_LIDARDATA.fields_by_name['mappingPhase'].message_type = _LIDARDATA_MAPPINGPHASE +_LIDARDATA.fields_by_name['localizationPhase'].message_type = _LIDARDATA_LOCALIZATIONPHASE +DESCRIPTOR.message_types_by_name['LidarTimestamp'] = _LIDARTIMESTAMP +DESCRIPTOR.message_types_by_name['LidarData'] = _LIDARDATA +_sym_db.RegisterFileDescriptor(DESCRIPTOR) + +LidarTimestamp = _reflection.GeneratedProtocolMessageType('LidarTimestamp', (_message.Message,), { + 'DESCRIPTOR' : _LIDARTIMESTAMP, + '__module__' : 'lidar_pb2' + # @@protoc_insertion_point(class_scope:LidarTimestamp) + }) +_sym_db.RegisterMessage(LidarTimestamp) + +LidarData = _reflection.GeneratedProtocolMessageType('LidarData', (_message.Message,), { + + 'MappingPhase' : _reflection.GeneratedProtocolMessageType('MappingPhase', (_message.Message,), { + 'DESCRIPTOR' : _LIDARDATA_MAPPINGPHASE, + '__module__' : 'lidar_pb2' + # @@protoc_insertion_point(class_scope:LidarData.MappingPhase) + }) + , + + 'LocalizationPhase' : _reflection.GeneratedProtocolMessageType('LocalizationPhase', (_message.Message,), { + 'DESCRIPTOR' : _LIDARDATA_LOCALIZATIONPHASE, + '__module__' : 'lidar_pb2' + # @@protoc_insertion_point(class_scope:LidarData.LocalizationPhase) + }) + , + 'DESCRIPTOR' : _LIDARDATA, + '__module__' : 'lidar_pb2' + # @@protoc_insertion_point(class_scope:LidarData) + }) +_sym_db.RegisterMessage(LidarData) +_sym_db.RegisterMessage(LidarData.MappingPhase) +_sym_db.RegisterMessage(LidarData.LocalizationPhase) + + +# @@protoc_insertion_point(module_scope) diff --git a/anchor/backend/data/proto/light_pb2.py b/anchor/backend/data/proto/light_pb2.py new file mode 100644 index 0000000..f6cc8bb --- /dev/null +++ b/anchor/backend/data/proto/light_pb2.py @@ -0,0 +1,208 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: light.proto + +from google.protobuf import descriptor as _descriptor +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor.FileDescriptor( + name='light.proto', + package='', + syntax='proto3', + serialized_options=None, + create_key=_descriptor._internal_create_key, + serialized_pb=b'\n\x0blight.proto\";\n\x0eLightTimestamp\x12\x11\n\ttimestamp\x18\x01 \x01(\x01\x12\x16\n\x0elightIntensity\x18\x02 \x01(\x01\"\xe6\x01\n\tLightData\x12-\n\x0cmappingPhase\x18\x01 \x01(\x0b\x32\x17.LightData.MappingPhase\x12\x37\n\x11localizationPhase\x18\x02 \x01(\x0b\x32\x1c.LightData.LocalizationPhase\x1a\x35\n\x0cMappingPhase\x12%\n\x0cmeasurements\x18\x01 \x03(\x0b\x32\x0f.LightTimestamp\x1a:\n\x11LocalizationPhase\x12%\n\x0cmeasurements\x18\x01 \x03(\x0b\x32\x0f.LightTimestampb\x06proto3' +) + + + + +_LIGHTTIMESTAMP = _descriptor.Descriptor( + name='LightTimestamp', + full_name='LightTimestamp', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='timestamp', full_name='LightTimestamp.timestamp', index=0, + number=1, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='lightIntensity', full_name='LightTimestamp.lightIntensity', index=1, + number=2, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=15, + serialized_end=74, +) + + +_LIGHTDATA_MAPPINGPHASE = _descriptor.Descriptor( + name='MappingPhase', + full_name='LightData.MappingPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='measurements', full_name='LightData.MappingPhase.measurements', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=194, + serialized_end=247, +) + +_LIGHTDATA_LOCALIZATIONPHASE = _descriptor.Descriptor( + name='LocalizationPhase', + full_name='LightData.LocalizationPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='measurements', full_name='LightData.LocalizationPhase.measurements', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=249, + serialized_end=307, +) + +_LIGHTDATA = _descriptor.Descriptor( + name='LightData', + full_name='LightData', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='mappingPhase', full_name='LightData.mappingPhase', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='localizationPhase', full_name='LightData.localizationPhase', index=1, + number=2, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[_LIGHTDATA_MAPPINGPHASE, _LIGHTDATA_LOCALIZATIONPHASE, ], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=77, + serialized_end=307, +) + +_LIGHTDATA_MAPPINGPHASE.fields_by_name['measurements'].message_type = _LIGHTTIMESTAMP +_LIGHTDATA_MAPPINGPHASE.containing_type = _LIGHTDATA +_LIGHTDATA_LOCALIZATIONPHASE.fields_by_name['measurements'].message_type = _LIGHTTIMESTAMP +_LIGHTDATA_LOCALIZATIONPHASE.containing_type = _LIGHTDATA +_LIGHTDATA.fields_by_name['mappingPhase'].message_type = _LIGHTDATA_MAPPINGPHASE +_LIGHTDATA.fields_by_name['localizationPhase'].message_type = _LIGHTDATA_LOCALIZATIONPHASE +DESCRIPTOR.message_types_by_name['LightTimestamp'] = _LIGHTTIMESTAMP +DESCRIPTOR.message_types_by_name['LightData'] = _LIGHTDATA +_sym_db.RegisterFileDescriptor(DESCRIPTOR) + +LightTimestamp = _reflection.GeneratedProtocolMessageType('LightTimestamp', (_message.Message,), { + 'DESCRIPTOR' : _LIGHTTIMESTAMP, + '__module__' : 'light_pb2' + # @@protoc_insertion_point(class_scope:LightTimestamp) + }) +_sym_db.RegisterMessage(LightTimestamp) + +LightData = _reflection.GeneratedProtocolMessageType('LightData', (_message.Message,), { + + 'MappingPhase' : _reflection.GeneratedProtocolMessageType('MappingPhase', (_message.Message,), { + 'DESCRIPTOR' : _LIGHTDATA_MAPPINGPHASE, + '__module__' : 'light_pb2' + # @@protoc_insertion_point(class_scope:LightData.MappingPhase) + }) + , + + 'LocalizationPhase' : _reflection.GeneratedProtocolMessageType('LocalizationPhase', (_message.Message,), { + 'DESCRIPTOR' : _LIGHTDATA_LOCALIZATIONPHASE, + '__module__' : 'light_pb2' + # @@protoc_insertion_point(class_scope:LightData.LocalizationPhase) + }) + , + 'DESCRIPTOR' : _LIGHTDATA, + '__module__' : 'light_pb2' + # @@protoc_insertion_point(class_scope:LightData) + }) +_sym_db.RegisterMessage(LightData) +_sym_db.RegisterMessage(LightData.MappingPhase) +_sym_db.RegisterMessage(LightData.LocalizationPhase) + + +# @@protoc_insertion_point(module_scope) diff --git a/anchor/backend/data/proto/point_cloud_pb2.py b/anchor/backend/data/proto/point_cloud_pb2.py new file mode 100644 index 0000000..f6e6a46 --- /dev/null +++ b/anchor/backend/data/proto/point_cloud_pb2.py @@ -0,0 +1,208 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: point_cloud.proto + +from google.protobuf import descriptor as _descriptor +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor.FileDescriptor( + name='point_cloud.proto', + package='', + syntax='proto3', + serialized_options=None, + create_key=_descriptor._internal_create_key, + serialized_pb=b'\n\x11point_cloud.proto\"?\n\x13PointCloudTimestamp\x12\x11\n\ttimestamp\x18\x01 \x01(\x01\x12\x15\n\rpointsInCloud\x18\x02 \x01(\r\"\xff\x01\n\x0ePointCloudData\x12\x32\n\x0cmappingPhase\x18\x01 \x01(\x0b\x32\x1c.PointCloudData.MappingPhase\x12<\n\x11localizationPhase\x18\x02 \x01(\x0b\x32!.PointCloudData.LocalizationPhase\x1a:\n\x0cMappingPhase\x12*\n\x0cmeasurements\x18\x01 \x03(\x0b\x32\x14.PointCloudTimestamp\x1a?\n\x11LocalizationPhase\x12*\n\x0cmeasurements\x18\x01 \x03(\x0b\x32\x14.PointCloudTimestampb\x06proto3' +) + + + + +_POINTCLOUDTIMESTAMP = _descriptor.Descriptor( + name='PointCloudTimestamp', + full_name='PointCloudTimestamp', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='timestamp', full_name='PointCloudTimestamp.timestamp', index=0, + number=1, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='pointsInCloud', full_name='PointCloudTimestamp.pointsInCloud', index=1, + number=2, type=13, cpp_type=3, label=1, + has_default_value=False, default_value=0, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=21, + serialized_end=84, +) + + +_POINTCLOUDDATA_MAPPINGPHASE = _descriptor.Descriptor( + name='MappingPhase', + full_name='PointCloudData.MappingPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='measurements', full_name='PointCloudData.MappingPhase.measurements', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=219, + serialized_end=277, +) + +_POINTCLOUDDATA_LOCALIZATIONPHASE = _descriptor.Descriptor( + name='LocalizationPhase', + full_name='PointCloudData.LocalizationPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='measurements', full_name='PointCloudData.LocalizationPhase.measurements', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=279, + serialized_end=342, +) + +_POINTCLOUDDATA = _descriptor.Descriptor( + name='PointCloudData', + full_name='PointCloudData', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='mappingPhase', full_name='PointCloudData.mappingPhase', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='localizationPhase', full_name='PointCloudData.localizationPhase', index=1, + number=2, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[_POINTCLOUDDATA_MAPPINGPHASE, _POINTCLOUDDATA_LOCALIZATIONPHASE, ], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=87, + serialized_end=342, +) + +_POINTCLOUDDATA_MAPPINGPHASE.fields_by_name['measurements'].message_type = _POINTCLOUDTIMESTAMP +_POINTCLOUDDATA_MAPPINGPHASE.containing_type = _POINTCLOUDDATA +_POINTCLOUDDATA_LOCALIZATIONPHASE.fields_by_name['measurements'].message_type = _POINTCLOUDTIMESTAMP +_POINTCLOUDDATA_LOCALIZATIONPHASE.containing_type = _POINTCLOUDDATA +_POINTCLOUDDATA.fields_by_name['mappingPhase'].message_type = _POINTCLOUDDATA_MAPPINGPHASE +_POINTCLOUDDATA.fields_by_name['localizationPhase'].message_type = _POINTCLOUDDATA_LOCALIZATIONPHASE +DESCRIPTOR.message_types_by_name['PointCloudTimestamp'] = _POINTCLOUDTIMESTAMP +DESCRIPTOR.message_types_by_name['PointCloudData'] = _POINTCLOUDDATA +_sym_db.RegisterFileDescriptor(DESCRIPTOR) + +PointCloudTimestamp = _reflection.GeneratedProtocolMessageType('PointCloudTimestamp', (_message.Message,), { + 'DESCRIPTOR' : _POINTCLOUDTIMESTAMP, + '__module__' : 'point_cloud_pb2' + # @@protoc_insertion_point(class_scope:PointCloudTimestamp) + }) +_sym_db.RegisterMessage(PointCloudTimestamp) + +PointCloudData = _reflection.GeneratedProtocolMessageType('PointCloudData', (_message.Message,), { + + 'MappingPhase' : _reflection.GeneratedProtocolMessageType('MappingPhase', (_message.Message,), { + 'DESCRIPTOR' : _POINTCLOUDDATA_MAPPINGPHASE, + '__module__' : 'point_cloud_pb2' + # @@protoc_insertion_point(class_scope:PointCloudData.MappingPhase) + }) + , + + 'LocalizationPhase' : _reflection.GeneratedProtocolMessageType('LocalizationPhase', (_message.Message,), { + 'DESCRIPTOR' : _POINTCLOUDDATA_LOCALIZATIONPHASE, + '__module__' : 'point_cloud_pb2' + # @@protoc_insertion_point(class_scope:PointCloudData.LocalizationPhase) + }) + , + 'DESCRIPTOR' : _POINTCLOUDDATA, + '__module__' : 'point_cloud_pb2' + # @@protoc_insertion_point(class_scope:PointCloudData) + }) +_sym_db.RegisterMessage(PointCloudData) +_sym_db.RegisterMessage(PointCloudData.MappingPhase) +_sym_db.RegisterMessage(PointCloudData.LocalizationPhase) + + +# @@protoc_insertion_point(module_scope) diff --git a/anchor/backend/data/proto/pose_pb2.py b/anchor/backend/data/proto/pose_pb2.py new file mode 100644 index 0000000..fa4d2f2 --- /dev/null +++ b/anchor/backend/data/proto/pose_pb2.py @@ -0,0 +1,229 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: pose.proto + +from google.protobuf import descriptor as _descriptor +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor.FileDescriptor( + name='pose.proto', + package='', + syntax='proto3', + serialized_options=None, + create_key=_descriptor._internal_create_key, + serialized_pb=b'\n\npose.proto\"r\n\rPoseTimestamp\x12\x11\n\ttimestamp\x18\x01 \x01(\x01\x12\x17\n\x0fposeTranslation\x18\x02 \x03(\x02\x12\x11\n\trotMatrix\x18\x03 \x03(\x02\x12\x10\n\x08quatImag\x18\x04 \x03(\x02\x12\x10\n\x08quatReal\x18\x05 \x01(\x02\"\xe1\x01\n\x08PoseData\x12,\n\x0cmappingPhase\x18\x01 \x01(\x0b\x32\x16.PoseData.MappingPhase\x12\x36\n\x11localizationPhase\x18\x02 \x01(\x0b\x32\x1b.PoseData.LocalizationPhase\x1a\x34\n\x0cMappingPhase\x12$\n\x0cmeasurements\x18\x01 \x03(\x0b\x32\x0e.PoseTimestamp\x1a\x39\n\x11LocalizationPhase\x12$\n\x0cmeasurements\x18\x01 \x03(\x0b\x32\x0e.PoseTimestampb\x06proto3' +) + + + + +_POSETIMESTAMP = _descriptor.Descriptor( + name='PoseTimestamp', + full_name='PoseTimestamp', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='timestamp', full_name='PoseTimestamp.timestamp', index=0, + number=1, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='poseTranslation', full_name='PoseTimestamp.poseTranslation', index=1, + number=2, type=2, cpp_type=6, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='rotMatrix', full_name='PoseTimestamp.rotMatrix', index=2, + number=3, type=2, cpp_type=6, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='quatImag', full_name='PoseTimestamp.quatImag', index=3, + number=4, type=2, cpp_type=6, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='quatReal', full_name='PoseTimestamp.quatReal', index=4, + number=5, type=2, cpp_type=6, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=14, + serialized_end=128, +) + + +_POSEDATA_MAPPINGPHASE = _descriptor.Descriptor( + name='MappingPhase', + full_name='PoseData.MappingPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='measurements', full_name='PoseData.MappingPhase.measurements', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=245, + serialized_end=297, +) + +_POSEDATA_LOCALIZATIONPHASE = _descriptor.Descriptor( + name='LocalizationPhase', + full_name='PoseData.LocalizationPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='measurements', full_name='PoseData.LocalizationPhase.measurements', index=0, + number=1, type=11, cpp_type=10, label=3, + has_default_value=False, default_value=[], + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=299, + serialized_end=356, +) + +_POSEDATA = _descriptor.Descriptor( + name='PoseData', + full_name='PoseData', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='mappingPhase', full_name='PoseData.mappingPhase', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='localizationPhase', full_name='PoseData.localizationPhase', index=1, + number=2, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[_POSEDATA_MAPPINGPHASE, _POSEDATA_LOCALIZATIONPHASE, ], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=131, + serialized_end=356, +) + +_POSEDATA_MAPPINGPHASE.fields_by_name['measurements'].message_type = _POSETIMESTAMP +_POSEDATA_MAPPINGPHASE.containing_type = _POSEDATA +_POSEDATA_LOCALIZATIONPHASE.fields_by_name['measurements'].message_type = _POSETIMESTAMP +_POSEDATA_LOCALIZATIONPHASE.containing_type = _POSEDATA +_POSEDATA.fields_by_name['mappingPhase'].message_type = _POSEDATA_MAPPINGPHASE +_POSEDATA.fields_by_name['localizationPhase'].message_type = _POSEDATA_LOCALIZATIONPHASE +DESCRIPTOR.message_types_by_name['PoseTimestamp'] = _POSETIMESTAMP +DESCRIPTOR.message_types_by_name['PoseData'] = _POSEDATA +_sym_db.RegisterFileDescriptor(DESCRIPTOR) + +PoseTimestamp = _reflection.GeneratedProtocolMessageType('PoseTimestamp', (_message.Message,), { + 'DESCRIPTOR' : _POSETIMESTAMP, + '__module__' : 'pose_pb2' + # @@protoc_insertion_point(class_scope:PoseTimestamp) + }) +_sym_db.RegisterMessage(PoseTimestamp) + +PoseData = _reflection.GeneratedProtocolMessageType('PoseData', (_message.Message,), { + + 'MappingPhase' : _reflection.GeneratedProtocolMessageType('MappingPhase', (_message.Message,), { + 'DESCRIPTOR' : _POSEDATA_MAPPINGPHASE, + '__module__' : 'pose_pb2' + # @@protoc_insertion_point(class_scope:PoseData.MappingPhase) + }) + , + + 'LocalizationPhase' : _reflection.GeneratedProtocolMessageType('LocalizationPhase', (_message.Message,), { + 'DESCRIPTOR' : _POSEDATA_LOCALIZATIONPHASE, + '__module__' : 'pose_pb2' + # @@protoc_insertion_point(class_scope:PoseData.LocalizationPhase) + }) + , + 'DESCRIPTOR' : _POSEDATA, + '__module__' : 'pose_pb2' + # @@protoc_insertion_point(class_scope:PoseData) + }) +_sym_db.RegisterMessage(PoseData) +_sym_db.RegisterMessage(PoseData.MappingPhase) +_sym_db.RegisterMessage(PoseData.LocalizationPhase) + + +# @@protoc_insertion_point(module_scope) diff --git a/anchor/backend/data/proto/video_pb2.py b/anchor/backend/data/proto/video_pb2.py new file mode 100644 index 0000000..8ff881e --- /dev/null +++ b/anchor/backend/data/proto/video_pb2.py @@ -0,0 +1,201 @@ +# -*- coding: utf-8 -*- +# Generated by the protocol buffer compiler. DO NOT EDIT! +# source: video.proto + +from google.protobuf import descriptor as _descriptor +from google.protobuf import message as _message +from google.protobuf import reflection as _reflection +from google.protobuf import symbol_database as _symbol_database +# @@protoc_insertion_point(imports) + +_sym_db = _symbol_database.Default() + + + + +DESCRIPTOR = _descriptor.FileDescriptor( + name='video.proto', + package='', + syntax='proto3', + serialized_options=None, + create_key=_descriptor._internal_create_key, + serialized_pb=b'\n\x0bvideo.proto\"2\n\x0fVideoAttributes\x12\x1f\n\x17videoStartUnixTimestamp\x18\x01 \x01(\x01\"\xee\x01\n\tVideoData\x12-\n\x0cmappingPhase\x18\x01 \x01(\x0b\x32\x17.VideoData.MappingPhase\x12\x37\n\x11localizationPhase\x18\x02 \x01(\x0b\x32\x1c.VideoData.LocalizationPhase\x1a\x39\n\x0cMappingPhase\x12)\n\x0fvideoAttributes\x18\x01 \x01(\x0b\x32\x10.VideoAttributes\x1a>\n\x11LocalizationPhase\x12)\n\x0fvideoAttributes\x18\x01 \x01(\x0b\x32\x10.VideoAttributesb\x06proto3' +) + + + + +_VIDEOATTRIBUTES = _descriptor.Descriptor( + name='VideoAttributes', + full_name='VideoAttributes', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='videoStartUnixTimestamp', full_name='VideoAttributes.videoStartUnixTimestamp', index=0, + number=1, type=1, cpp_type=5, label=1, + has_default_value=False, default_value=float(0), + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=15, + serialized_end=65, +) + + +_VIDEODATA_MAPPINGPHASE = _descriptor.Descriptor( + name='MappingPhase', + full_name='VideoData.MappingPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='videoAttributes', full_name='VideoData.MappingPhase.videoAttributes', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=185, + serialized_end=242, +) + +_VIDEODATA_LOCALIZATIONPHASE = _descriptor.Descriptor( + name='LocalizationPhase', + full_name='VideoData.LocalizationPhase', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='videoAttributes', full_name='VideoData.LocalizationPhase.videoAttributes', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=244, + serialized_end=306, +) + +_VIDEODATA = _descriptor.Descriptor( + name='VideoData', + full_name='VideoData', + filename=None, + file=DESCRIPTOR, + containing_type=None, + create_key=_descriptor._internal_create_key, + fields=[ + _descriptor.FieldDescriptor( + name='mappingPhase', full_name='VideoData.mappingPhase', index=0, + number=1, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + _descriptor.FieldDescriptor( + name='localizationPhase', full_name='VideoData.localizationPhase', index=1, + number=2, type=11, cpp_type=10, label=1, + has_default_value=False, default_value=None, + message_type=None, enum_type=None, containing_type=None, + is_extension=False, extension_scope=None, + serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key), + ], + extensions=[ + ], + nested_types=[_VIDEODATA_MAPPINGPHASE, _VIDEODATA_LOCALIZATIONPHASE, ], + enum_types=[ + ], + serialized_options=None, + is_extendable=False, + syntax='proto3', + extension_ranges=[], + oneofs=[ + ], + serialized_start=68, + serialized_end=306, +) + +_VIDEODATA_MAPPINGPHASE.fields_by_name['videoAttributes'].message_type = _VIDEOATTRIBUTES +_VIDEODATA_MAPPINGPHASE.containing_type = _VIDEODATA +_VIDEODATA_LOCALIZATIONPHASE.fields_by_name['videoAttributes'].message_type = _VIDEOATTRIBUTES +_VIDEODATA_LOCALIZATIONPHASE.containing_type = _VIDEODATA +_VIDEODATA.fields_by_name['mappingPhase'].message_type = _VIDEODATA_MAPPINGPHASE +_VIDEODATA.fields_by_name['localizationPhase'].message_type = _VIDEODATA_LOCALIZATIONPHASE +DESCRIPTOR.message_types_by_name['VideoAttributes'] = _VIDEOATTRIBUTES +DESCRIPTOR.message_types_by_name['VideoData'] = _VIDEODATA +_sym_db.RegisterFileDescriptor(DESCRIPTOR) + +VideoAttributes = _reflection.GeneratedProtocolMessageType('VideoAttributes', (_message.Message,), { + 'DESCRIPTOR' : _VIDEOATTRIBUTES, + '__module__' : 'video_pb2' + # @@protoc_insertion_point(class_scope:VideoAttributes) + }) +_sym_db.RegisterMessage(VideoAttributes) + +VideoData = _reflection.GeneratedProtocolMessageType('VideoData', (_message.Message,), { + + 'MappingPhase' : _reflection.GeneratedProtocolMessageType('MappingPhase', (_message.Message,), { + 'DESCRIPTOR' : _VIDEODATA_MAPPINGPHASE, + '__module__' : 'video_pb2' + # @@protoc_insertion_point(class_scope:VideoData.MappingPhase) + }) + , + + 'LocalizationPhase' : _reflection.GeneratedProtocolMessageType('LocalizationPhase', (_message.Message,), { + 'DESCRIPTOR' : _VIDEODATA_LOCALIZATIONPHASE, + '__module__' : 'video_pb2' + # @@protoc_insertion_point(class_scope:VideoData.LocalizationPhase) + }) + , + 'DESCRIPTOR' : _VIDEODATA, + '__module__' : 'video_pb2' + # @@protoc_insertion_point(class_scope:VideoData) + }) +_sym_db.RegisterMessage(VideoData) +_sym_db.RegisterMessage(VideoData.MappingPhase) +_sym_db.RegisterMessage(VideoData.LocalizationPhase) + + +# @@protoc_insertion_point(module_scope) diff --git a/anchor/backend/server/img_tmp b/anchor/backend/server/img_tmp new file mode 100644 index 0000000..e69de29 diff --git a/anchor/third_party/Zero-DCE b/anchor/third_party/Zero-DCE new file mode 160000 index 0000000..e0f4adc --- /dev/null +++ b/anchor/third_party/Zero-DCE @@ -0,0 +1 @@ +Subproject commit e0f4adc54d0f23348c4a9b84acc08fe8778d5bfd diff --git a/anchor/third_party/ace b/anchor/third_party/ace index 486906f..fc3ba2d 160000 --- a/anchor/third_party/ace +++ b/anchor/third_party/ace @@ -1 +1 @@ -Subproject commit 486906fe6071cab13e2a6a81984eb294e999b50c +Subproject commit fc3ba2d6795353bf20014ca4d678fa894c094464 diff --git a/anchor/third_party/zero_dce b/anchor/third_party/zero_dce new file mode 160000 index 0000000..b421ccd --- /dev/null +++ b/anchor/third_party/zero_dce @@ -0,0 +1 @@ +Subproject commit b421ccd2956191e23251eb011c632847f4b1ec8d diff --git a/ios_logger2/ios_logger2.xcodeproj/project.pbxproj b/ios_logger2/ios_logger2.xcodeproj/project.pbxproj index 6f93c45..fef5316 100644 --- a/ios_logger2/ios_logger2.xcodeproj/project.pbxproj +++ b/ios_logger2/ios_logger2.xcodeproj/project.pbxproj @@ -8,11 +8,9 @@ /* Begin PBXBuildFile section */ 612F51122A3B8F4700E32A6D /* AprilTag.swift in Sources */ = {isa = PBXBuildFile; fileRef = 612F51112A3B8F4700E32A6D /* AprilTag.swift */; }; - 612F51142A3B8FE200E32A6D /* april_tag.pb.swift in Sources */ = {isa = PBXBuildFile; fileRef = 612F51132A3B8FE200E32A6D /* april_tag.pb.swift */; }; 613B110B2A3775EF002CA4DD /* GoogleCloudAnchor.swift in Sources */ = {isa = PBXBuildFile; fileRef = 613B110A2A3775EF002CA4DD /* GoogleCloudAnchor.swift */; }; 613B110E2A378E75002CA4DD /* Secrets.swift in Sources */ = {isa = PBXBuildFile; fileRef = 613B110D2A378E75002CA4DD /* Secrets.swift */; }; 613B11132A379104002CA4DD /* google_cloud_anchor.proto in Sources */ = {isa = PBXBuildFile; fileRef = 613B11122A379104002CA4DD /* google_cloud_anchor.proto */; }; - 613B11152A37913D002CA4DD /* google_cloud_anchor.pb.swift in Sources */ = {isa = PBXBuildFile; fileRef = 613B11142A37913D002CA4DD /* google_cloud_anchor.pb.swift */; }; 61500B182A2FBAB7001FE294 /* ContentView.swift in Sources */ = {isa = PBXBuildFile; fileRef = 61500B172A2FBAB7001FE294 /* ContentView.swift */; }; 61500B1A2A2FBAB8001FE294 /* Assets.xcassets in Resources */ = {isa = PBXBuildFile; fileRef = 61500B192A2FBAB8001FE294 /* Assets.xcassets */; }; 61500B1D2A2FBAB8001FE294 /* Preview Assets.xcassets in Resources */ = {isa = PBXBuildFile; fileRef = 61500B1C2A2FBAB8001FE294 /* Preview Assets.xcassets */; }; @@ -49,15 +47,7 @@ 61500BE52A375FDB001FE294 /* light.proto in Sources */ = {isa = PBXBuildFile; fileRef = 61500BDD2A375FDB001FE294 /* light.proto */; }; 61500BE62A375FDB001FE294 /* point_cloud.proto in Sources */ = {isa = PBXBuildFile; fileRef = 61500BDE2A375FDB001FE294 /* point_cloud.proto */; }; 61500BE72A375FDB001FE294 /* pose.proto in Sources */ = {isa = PBXBuildFile; fileRef = 61500BDF2A375FDB001FE294 /* pose.proto */; }; - 61500BF02A376100001FE294 /* gyro.pb.swift in Sources */ = {isa = PBXBuildFile; fileRef = 61500BE82A376100001FE294 /* gyro.pb.swift */; }; - 61500BF12A376100001FE294 /* light.pb.swift in Sources */ = {isa = PBXBuildFile; fileRef = 61500BE92A376100001FE294 /* light.pb.swift */; }; - 61500BF22A376100001FE294 /* accelerometer.pb.swift in Sources */ = {isa = PBXBuildFile; fileRef = 61500BEA2A376100001FE294 /* accelerometer.pb.swift */; }; - 61500BF32A376100001FE294 /* pose.pb.swift in Sources */ = {isa = PBXBuildFile; fileRef = 61500BEB2A376100001FE294 /* pose.pb.swift */; }; - 61500BF42A376100001FE294 /* lidar.pb.swift in Sources */ = {isa = PBXBuildFile; fileRef = 61500BEC2A376100001FE294 /* lidar.pb.swift */; }; - 61500BF62A376100001FE294 /* intrinsics.pb.swift in Sources */ = {isa = PBXBuildFile; fileRef = 61500BEE2A376100001FE294 /* intrinsics.pb.swift */; }; - 61500BF72A376100001FE294 /* point_cloud.pb.swift in Sources */ = {isa = PBXBuildFile; fileRef = 61500BEF2A376100001FE294 /* point_cloud.pb.swift */; }; 61500BF92A37645E001FE294 /* video.proto in Sources */ = {isa = PBXBuildFile; fileRef = 61500BF82A37645E001FE294 /* video.proto */; }; - 61500BFB2A37650E001FE294 /* video.pb.swift in Sources */ = {isa = PBXBuildFile; fileRef = 61500BFA2A37650E001FE294 /* video.pb.swift */; }; 61500BFE2A376C1C001FE294 /* ARCoreCloudAnchors in Frameworks */ = {isa = PBXBuildFile; productRef = 61500BFD2A376C1C001FE294 /* ARCoreCloudAnchors */; }; 617703452A6709A4000413CE /* Collections in Frameworks */ = {isa = PBXBuildFile; productRef = 617703442A6709A4000413CE /* Collections */; }; 617703472A6709A4000413CE /* DequeModule in Frameworks */ = {isa = PBXBuildFile; productRef = 617703462A6709A4000413CE /* DequeModule */; }; @@ -65,8 +55,10 @@ 61C6D7E82A3C9EC100FF9349 /* opencv2.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = 61C6D7E72A3C9EC100FF9349 /* opencv2.framework */; }; 61CEADA12A696E3D00BFEA6F /* InteractiveLocalizer.swift in Sources */ = {isa = PBXBuildFile; fileRef = 61CEADA02A696E3D00BFEA6F /* InteractiveLocalizer.swift */; }; 61CEADA32A69703100BFEA6F /* LocalizerManager.swift in Sources */ = {isa = PBXBuildFile; fileRef = 61CEADA22A69703100BFEA6F /* LocalizerManager.swift */; }; + 821C17732B06AC4A003503AF /* AnnouncementManager.swift in Sources */ = {isa = PBXBuildFile; fileRef = 821C17722B06AC4A003503AF /* AnnouncementManager.swift */; }; 8244890C2ABCCE410065D686 /* lowPolyPaulTexture.jpg in Resources */ = {isa = PBXBuildFile; fileRef = 8244890A2ABCCE410065D686 /* lowPolyPaulTexture.jpg */; }; 8244890D2ABCCE410065D686 /* lowPolyPaul.dae in Resources */ = {isa = PBXBuildFile; fileRef = 8244890B2ABCCE410065D686 /* lowPolyPaul.dae */; }; + 98D091712B3C03FD008AD8F9 /* codegen in Resources */ = {isa = PBXBuildFile; fileRef = 98D091702B3C03FD008AD8F9 /* codegen */; }; /* End PBXBuildFile section */ /* Begin PBXContainerItemProxy section */ @@ -88,12 +80,10 @@ /* Begin PBXFileReference section */ 612F51112A3B8F4700E32A6D /* AprilTag.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = AprilTag.swift; sourceTree = ""; }; - 612F51132A3B8FE200E32A6D /* april_tag.pb.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = april_tag.pb.swift; sourceTree = ""; }; 613B110A2A3775EF002CA4DD /* GoogleCloudAnchor.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = GoogleCloudAnchor.swift; sourceTree = ""; }; 613B110D2A378E75002CA4DD /* Secrets.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = Secrets.swift; sourceTree = ""; }; 613B110F2A379015002CA4DD /* README.md */ = {isa = PBXFileReference; lastKnownFileType = net.daringfireball.markdown; path = README.md; sourceTree = ""; }; 613B11122A379104002CA4DD /* google_cloud_anchor.proto */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.protobuf; path = google_cloud_anchor.proto; sourceTree = ""; }; - 613B11142A37913D002CA4DD /* google_cloud_anchor.pb.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = google_cloud_anchor.pb.swift; sourceTree = ""; }; 61500B122A2FBAB7001FE294 /* ios_logger2.app */ = {isa = PBXFileReference; explicitFileType = wrapper.application; includeInIndex = 0; path = ios_logger2.app; sourceTree = BUILT_PRODUCTS_DIR; }; 61500B172A2FBAB7001FE294 /* ContentView.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = ContentView.swift; sourceTree = ""; }; 61500B192A2FBAB8001FE294 /* Assets.xcassets */ = {isa = PBXFileReference; lastKnownFileType = folder.assetcatalog; path = Assets.xcassets; sourceTree = ""; }; @@ -124,20 +114,14 @@ 61500BDD2A375FDB001FE294 /* light.proto */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.protobuf; name = light.proto; path = ios_logger2/protos/light.proto; sourceTree = SOURCE_ROOT; }; 61500BDE2A375FDB001FE294 /* point_cloud.proto */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.protobuf; name = point_cloud.proto; path = ios_logger2/protos/point_cloud.proto; sourceTree = SOURCE_ROOT; }; 61500BDF2A375FDB001FE294 /* pose.proto */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.protobuf; name = pose.proto; path = ios_logger2/protos/pose.proto; sourceTree = SOURCE_ROOT; }; - 61500BE82A376100001FE294 /* gyro.pb.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = gyro.pb.swift; sourceTree = ""; }; - 61500BE92A376100001FE294 /* light.pb.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = light.pb.swift; sourceTree = ""; }; - 61500BEA2A376100001FE294 /* accelerometer.pb.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = accelerometer.pb.swift; sourceTree = ""; }; - 61500BEB2A376100001FE294 /* pose.pb.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = pose.pb.swift; sourceTree = ""; }; - 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= codegen; sourceTree = ""; }; /* End PBXFileReference section */ /* Begin PBXFrameworksBuildPhase section */ @@ -226,6 +210,7 @@ 61500B432A2FCC83001FE294 /* Motion.swift */, 61500B192A2FBAB8001FE294 /* Assets.xcassets */, 61500B1B2A2FBAB8001FE294 /* Preview Content */, + 821C17722B06AC4A003503AF /* AnnouncementManager.swift */, ); path = ios_logger2; sourceTree = ""; @@ -258,7 +243,7 @@ 61500B5A2A30CC76001FE294 /* protos */ = { isa = PBXGroup; children = ( - 61500BD72A375F51001FE294 /* codegen */, + 98D091702B3C03FD008AD8F9 /* codegen */, 61500BDB2A375FDB001FE294 /* accelerometer.proto */, 61500BF82A37645E001FE294 /* video.proto */, 61500BD82A375FDB001FE294 /* gyro.proto */, @@ -299,23 +284,6 @@ path = Sensors; sourceTree = ""; }; - 61500BD72A375F51001FE294 /* codegen */ = { - isa = PBXGroup; - children = ( - 61500BFA2A37650E001FE294 /* video.pb.swift */, - 612F51132A3B8FE200E32A6D /* april_tag.pb.swift */, - 61500BEA2A376100001FE294 /* accelerometer.pb.swift */, - 61500BE82A376100001FE294 /* gyro.pb.swift */, - 61500BEE2A376100001FE294 /* intrinsics.pb.swift */, - 61500BEC2A376100001FE294 /* lidar.pb.swift */, - 61500BE92A376100001FE294 /* light.pb.swift */, - 61500BEF2A376100001FE294 /* point_cloud.pb.swift */, - 61500BEB2A376100001FE294 /* pose.pb.swift */, - 613B11142A37913D002CA4DD /* google_cloud_anchor.pb.swift */, - ); - path = codegen; - sourceTree = ""; - }; /* End PBXGroup section */ /* Begin PBXNativeTarget section */ @@ -442,6 +410,7 @@ isa = PBXResourcesBuildPhase; buildActionMask = 2147483647; files = ( + 98D091712B3C03FD008AD8F9 /* codegen in Resources */, 61500B1D2A2FBAB8001FE294 /* Preview Assets.xcassets in Resources */, 61500B832A3252B5001FE294 /* GoogleService-Info.plist in Resources */, 8244890C2ABCCE410065D686 /* lowPolyPaulTexture.jpg in Resources */, @@ -472,10 +441,8 @@ buildActionMask = 2147483647; files = ( 61CEADA12A696E3D00BFEA6F /* InteractiveLocalizer.swift in Sources */, - 61500BF62A376100001FE294 /* intrinsics.pb.swift in Sources */, 613B110E2A378E75002CA4DD /* Secrets.swift in Sources */, 613B110B2A3775EF002CA4DD /* GoogleCloudAnchor.swift in Sources */, - 61500BF72A376100001FE294 /* point_cloud.pb.swift in Sources */, 61500BE62A375FDB001FE294 /* point_cloud.proto in Sources */, 61500BD12A375F06001FE294 /* Light.swift in Sources */, 61500BE52A375FDB001FE294 /* light.proto in Sources */, @@ -487,27 +454,20 @@ 613B11132A379104002CA4DD /* google_cloud_anchor.proto in Sources */, 61500BD42A375F06001FE294 /* Intrinsics.swift in Sources */, 61500B862A325629001FE294 /* InternetConnectionUtil.swift in Sources */, - 61500BF02A376100001FE294 /* gyro.pb.swift in Sources */, 61500BCF2A375F06001FE294 /* Accelerometer.swift in Sources */, 61500BE32A375FDB001FE294 /* accelerometer.proto in Sources */, - 61500BF42A376100001FE294 /* lidar.pb.swift in Sources */, 61500B182A2FBAB7001FE294 /* ContentView.swift in Sources */, - 61500BF32A376100001FE294 /* pose.pb.swift in Sources */, 61500BE12A375FDB001FE294 /* lidar.proto in Sources */, 61500BD62A375F06001FE294 /* Video.swift in Sources */, 61500BE22A375FDB001FE294 /* intrinsics.proto in Sources */, 612F51122A3B8F4700E32A6D /* AprilTag.swift in Sources */, 61500BB32A375CF1001FE294 /* ios_logger2App.swift in Sources */, - 61500BFB2A37650E001FE294 /* video.pb.swift in Sources */, - 61500BF12A376100001FE294 /* light.pb.swift in Sources */, - 612F51142A3B8FE200E32A6D /* april_tag.pb.swift in Sources */, 61500BD22A375F06001FE294 /* Pose.swift in Sources */, - 613B11152A37913D002CA4DD /* google_cloud_anchor.pb.swift in Sources */, 61500BE72A375FDB001FE294 /* pose.proto in Sources */, 61500B442A2FCC83001FE294 /* Motion.swift in Sources */, + 821C17732B06AC4A003503AF /* AnnouncementManager.swift in Sources */, 61500BD52A375F06001FE294 /* Gyro.swift in Sources */, 61CEADA32A69703100BFEA6F /* LocalizerManager.swift in Sources */, - 61500BF22A376100001FE294 /* accelerometer.pb.swift in Sources */, 61500BE02A375FDB001FE294 /* gyro.proto in Sources */, ); runOnlyForDeploymentPostprocessing = 0; diff --git a/ios_logger2/ios_logger2/AnnouncementManager.swift b/ios_logger2/ios_logger2/AnnouncementManager.swift new file mode 100644 index 0000000..bd3ffc8 --- /dev/null +++ b/ios_logger2/ios_logger2/AnnouncementManager.swift @@ -0,0 +1,136 @@ +// +// AnnouncementManager.swift +// Clew +// +// Created by Paul Ruvolo on 11/15/21. +// Copyright © 2021 OccamLab. All rights reserved. +// + +import Foundation +import AudioToolbox +import AVFoundation +import UIKit + +/// This class manages providing announcements to the user using text to speech. It will use VoiceOver when +/// that is enabled and the `AVSpeechSynthesizer` otherwise. +class AnnouncementManager: NSObject { + /// The shared handle to the singleton object of this class + public static var shared = AnnouncementManager() + + /// When VoiceOver is not active, we use AVSpeechSynthesizer for speech feedback + let synth = AVSpeechSynthesizer() + + /// The announcement that is currently being read alogn with whether or not it is preemptable. If this is nil, that implies nothing is being read + private var currentAnnouncement: (String, Bool)? + + /// The announcement that should be read immediately after this one finishes + private var nextAnnouncement: (String, Bool)? + + /// The private initializer (this should not be called directly) + private override init() { + super.init() + // create listeners to ensure that the isReadingAnnouncement flag is reset properly + NotificationCenter.default.addObserver(forName: UIApplication.didBecomeActiveNotification, object: nil, queue: nil) { (notification) -> Void in + self.currentAnnouncement = nil + } + + synth.delegate = self + NotificationCenter.default.addObserver(forName: UIAccessibility.announcementDidFinishNotification, object: nil, queue: nil) { (notification) -> Void in + self.currentAnnouncement = nil + if let nextAnnouncement = self.nextAnnouncement { + self.nextAnnouncement = nil + self.announce(announcement: nextAnnouncement.0, isPreemptable: nextAnnouncement.1) + } + } + + NotificationCenter.default.addObserver(forName: UIAccessibility.voiceOverStatusDidChangeNotification, object: nil, queue: nil) { (notification) -> Void in + self.currentAnnouncement = nil + } + } + + /// Communicates a message to the user via speech. If VoiceOver is active, then VoiceOver is used to communicate the announcement, otherwise we use the AVSpeechEngine + /// + /// - Parameter announcement: the text to read to the user + /// - Parameter isPreemptable: true if we should allow the announcement to be preempted while being spoken + func announce(announcement: String, isPreemptable: Bool = false) { + if !Thread.isMainThread { + DispatchQueue.main.async { + self.announce(announcement: announcement) + } + return + } + if let currentAnnouncement = currentAnnouncement { + if currentAnnouncement.0 == announcement { + // the announcement is the same, so don't repeat + return + } + // put it on the queue + nextAnnouncement = (announcement, isPreemptable) + if !currentAnnouncement.1 { + // the current anouncement is not preemptable, so wait our turn + return + } + if !UIAccessibility.isVoiceOverRunning { + // stop the synth. The notification will advance to the next announcement + synth.stopSpeaking(at: .immediate) + return + } else { + // remove from the queue since we will speak right away + nextAnnouncement = nil + } + // if voiceover is running, we fall through and let the default code take care of things + } + + if UIAccessibility.isVoiceOverRunning { + // use the VoiceOver API instead of text to speech + currentAnnouncement = (announcement, isPreemptable) + // insert delay to make sure the announcement is properly read. + DispatchQueue.main.asyncAfter(deadline: .now() + 0.1) { + UIAccessibility.post(notification: UIAccessibility.Notification.announcement, argument: announcement) + } + } else { + let audioSession = AVAudioSession.sharedInstance() + do { + try audioSession.setCategory(AVAudioSession.Category.playback) + try audioSession.setActive(true) + let utterance = AVSpeechUtterance(string: announcement) + utterance.rate = 0.5 + currentAnnouncement = (announcement, isPreemptable) + synth.speak(utterance) + } catch { + print("Unexpeced error announcing something using AVSpeechEngine!") + } + } + } +} + +extension AnnouncementManager: AVSpeechSynthesizerDelegate { + /// Called when an utterance is finished. We implement this function so that we can keep track of + /// whether or not an announcement is currently being read to the user. + /// + /// - Parameters: + /// - synthesizer: the synthesizer that finished the utterance + /// - utterance: the utterance itself + func speechSynthesizer(_ synthesizer: AVSpeechSynthesizer, + didFinish utterance: AVSpeechUtterance) { + currentAnnouncement = nil + if let nextAnnouncement = self.nextAnnouncement { + self.nextAnnouncement = nil + announce(announcement: nextAnnouncement.0, isPreemptable: nextAnnouncement.1) + } + } + /// Called when an utterance is canceled. We implement this function so that we can keep track of + /// whether or not an announcement is currently being read to the user. + /// + /// - Parameters: + /// - synthesizer: the synthesizer that finished the utterance + /// - utterance: the utterance itself + func speechSynthesizer(_ synthesizer: AVSpeechSynthesizer, + didCancel utterance: AVSpeechUtterance) { + currentAnnouncement = nil + if let nextAnnouncement = self.nextAnnouncement { + self.nextAnnouncement = nil + announce(announcement: nextAnnouncement.0, isPreemptable: nextAnnouncement.1) + } + } +} diff --git a/ios_logger2/ios_logger2/ContentView.swift b/ios_logger2/ios_logger2/ContentView.swift index d3265ca..cca8381 100644 --- a/ios_logger2/ios_logger2/ContentView.swift +++ b/ios_logger2/ios_logger2/ContentView.swift @@ -34,9 +34,16 @@ class MotionManager: ObservableObject { func setAnchorName(anchorName: String) { interactiveLocalize.selectedAnchor = anchorName } + func startRecordingVideo() { + motion?.videoSensor?.startRecording() + } + func resetGARSession() { + motion?.googleCloudAnchor?.resetGARSession() + } + func mappingPhase() { motion!.disabledCollection = false - DispatchQueue.main.asyncAfter(deadline: .now() + 20) { + DispatchQueue.main.asyncAfter(deadline: .now() + 30) { self.motion!.disabledCollection = true self.mappingComplete = true } @@ -48,11 +55,11 @@ class MotionManager: ObservableObject { func transitionPhase() async { motion!.initMotionSensors() motion!.initArSession() - self.motion!.disabledCollection = false } + func localizationPhase() { motion!.disabledCollection = false - DispatchQueue.main.asyncAfter(deadline: .now() + 10) { + DispatchQueue.main.asyncAfter(deadline: .now() + 30) { self.motion!.disabledCollection = true self.localizationComplete = true } @@ -96,6 +103,7 @@ enum AppPhase { case mappingPhase case mappingComplete case resetPosePhase2 + case restartingGARSession case localizationPhase case localizationComplete case enterAnchorName @@ -143,8 +151,8 @@ struct ContentView: View { motionManager.listFromFirebase() { fileNamesList in self.anchors = fileNamesList for (i, name) in self.anchors[0].enumerated() { - if name.starts(with: "training_ua") { - let end = name.index(name.startIndex, offsetBy: "training_".count + cloudIDLength + 1) + if name.starts(with: "ua-") { + let end = name.index(name.startIndex, offsetBy: cloudIDLength + 1) self.anchors[0][i] = String(name[end...]) } } @@ -167,8 +175,8 @@ struct ContentView: View { self.anchors = fileNamesList for (i, name) in self.anchors[0].enumerated() { print("name \(name)") - if name.starts(with: "training_ua") { - let end = name.index(name.startIndex, offsetBy: "training_".count + cloudIDLength + 1) + if name.starts(with: "ua-") { + let end = name.index(name.startIndex, offsetBy: cloudIDLength + 1) self.anchors[0][i] = String(name[end...]) } } @@ -195,9 +203,9 @@ struct ContentView: View { motionManager.setAnchorName(anchorName: selection) print("selection \(selection)") self.selection = selection - if let cloudAnchorIndexRange = selectionLocation.range(of: "training_ua") { - let start = selectionLocation.index(cloudAnchorIndexRange.lowerBound, offsetBy: "training_".count) - let end = selectionLocation.index(cloudAnchorIndexRange.lowerBound, offsetBy: "training_".count + cloudIDLength) + if let cloudAnchorIndexRange = selectionLocation.range(of: "ua-") { + let start = selectionLocation.index(cloudAnchorIndexRange.lowerBound, offsetBy: 0) + let end = selectionLocation.index(cloudAnchorIndexRange.lowerBound, offsetBy: cloudIDLength) hostedCloudAnchorID = String(selectionLocation[start..