schema: add KeyPoint3D, KeyLine3D, Polygon3D

- add 3D equivalents in Cartesian coordinates in sensor space for KeyPoint2D,
KeyLine2D and Polygon2D on the image plane respectively.

Co-authored-by: Nisse Knudsen <[email protected]>

dgp/proto/annotations.proto

@@ -70,6 +70,15 @@ enum AnnotationType {
   // Classification.
   // (i.e. imagenet classification label)
   CLASSIFICATION = 15;             // classification
+
+  // 3D Key Point in sensor space
+  KEY_POINT_3D = 16;               // key_point_3d
+
+  // 3D Key Line in sensor space
+  KEY_LINE_3D = 17;                // key_line_3d
+
+  // 3D Polygon in sensor space
+  POLYGON_3D = 18;                 // polygon_3d
 }
 
 // 2D bounding box
@@ -229,7 +238,69 @@ message ClassificationAnnotation{
   map<string, string> attributes = 2;
 }
 
-// List of BoundingBox2DAnnotation.
+// 3D point.
+message KeyPoint3D {
+  // (x, y, z) point (in 3D Cartesian coordinates).
+  float x = 1;
+  float y = 2;
+  float z = 3;
+}
+
+// 3D point annotation.
+message KeyPoint3DAnnotation {
+  // Class identifier (should be in [0, num_classes - 1])
+  uint32 class_id = 1;
+
+  // 3D point.
+  KeyPoint3D point = 2;
+
+  // An associative map stores arbitrary attributes, where the key is attribute name
+  // and the value is attribute value. Both key_type and value_type are string.
+  map<string, string> attributes = 3;
+
+  // An identifier key. Used to link with other annotations.
+  string key = 4;
+}
+
+// 3D line annotation.
+message KeyLine3DAnnotation{
+  // Class identifier (should be in [0, num_classes - 1])
+  uint32 class_id = 1;
+
+  // 3D line.
+  repeated KeyPoint3D vertices = 2;
+
+  // An associative map stores arbitrary attributes, where the key is attribute name
+  // and the value is attribute value. Both key_type and value_type are string.
+  map<string, string> attributes = 3;
+
+  // An identifier key. Used to link with other annotations.
+  string key = 4;
+}
+
+message PolygonPoint3D {
+  // (x, y, z) point (in 3D Cartesian coordinates).
+  float x = 1;
+  float y = 2;
+  float z = 3;
+}
+
+// 3D polygon annotation.
+message Polygon3DAnnotation{
+  // Class identifier (should be in [0, num_classes - 1])
+  uint32 class_id = 1;
+
+  // 3D polygon.
+  // Points should be put into this field with counter-clockwise order.
+  repeated PolygonPoint3D vertices = 2;
+
+  // An associative map stores arbitrary attributes, where the key is attribute name
+  // and the value is attribute value. Both key_type and value_type are string.
+  map<string, string> attributes = 3;
+}
+
+
+// List of BoundingBox2DAnnotation
 message BoundingBox2DAnnotations {
   repeated BoundingBox2DAnnotation annotations = 1;
 }
@@ -258,3 +329,18 @@ message Polygon2DAnnotations {
 message ClassificationAnnotations {
   repeated ClassificationAnnotation annotations = 1;
 }
+
+// List of KeyPoint3DAnnotation.
+message KeyPoint3DAnnotations {
+  repeated KeyPoint3DAnnotation annotations = 1;
+}
+
+// List of KeyLine3DAnnotation.
+message KeyLine3DAnnotations {
+  repeated KeyLine3DAnnotation annotations = 1;
+}
+
+// List of Polygon3DAnnotation.
+message Polygon3DAnnotations {
+  repeated Polygon3DAnnotation annotations = 1;
+}