/* AUTOGENERATED FILE: DO NOT EDIT */ // Version 1.1 syntax = "proto2"; message Point { // position of the point in a global coordinate frame required float x = 1; required float y = 2; required float z = 3; // intensity of the point optional float i = 4; // device ID with which to associate the point optional uint32 d = 5; // timestamp of when the point was captured optional double t = 6; optional bool is_ground = 7; } message Vector3 { required float x = 1; required float y = 2; required float z = 3; } message Quaternion { required float w = 1; required float x = 2; required float y = 3; required float z = 4; } message GPSPose { required float lat = 1; required float long = 2; required float bearing = 3; } message RadarPoint { // position of the point in a global coordinate frame required Vector3 position = 1; // unit vector indicating the direction of the radar point optional Vector3 direction = 2; optional float size = 3; } message BrownConradyIntrinsics { required float fx = 1; required float fy = 2; required float cx = 3; required float cy = 4; optional float skew = 5; optional float k1 = 6; optional float k2 = 7; optional float p1 = 8; optional float p2 = 9; optional float k3 = 10; reserved 11, 12; } message FisheyeIntrinsics { required float fx = 1; required float fy = 2; required float cx = 3; required float cy = 4; optional float skew = 5; optional float k1 = 6; optional float k2 = 7; optional float k3 = 8; optional float k4 = 9; } message OmnidirectionalIntrinsics { required float fx = 1; required float fy = 2; required float cx = 3; required float cy = 4; optional float skew = 5; optional float k1 = 6; optional float k2 = 7; optional float p1 = 8; optional float p2 = 9; optional float k3 = 10; optional float xi = 11; } message CameraImage { optional double timestamp = 1; required string image_url = 2; required Vector3 position = 3; required Quaternion heading = 4; optional float scale_factor = 5; optional int32 priority = 6; optional int32 camera_index = 7; oneof camera_intrinsics { BrownConradyIntrinsics brown_conrady = 8; FisheyeIntrinsics fisheye = 9; OmnidirectionalIntrinsics omnidirectional = 13; } reserved 10, 11; reserved 12; } message LidarFrame { required Vector3 device_position = 1; optional Quaternion device_heading = 2; optional GPSPose device_gps_pose = 3; repeated Point points = 4; repeated RadarPoint radar_points = 5; repeated CameraImage images = 6; optional double timestamp = 7; optional bytes extra = 8; }