Parameters.proto

syntax = "proto2";
package package;

// ============================================== Data Structures ================================================

message FloatRange {
  required float min = 1;
  required float max = 2;
}

message ToggledFloatRange {
  required bool enabled = 1;
  required float min = 2;
  required float max = 3;
}

message ToggledFloat {
  required bool enabled = 1;
  required float val = 2;
}

message ToggledInt {
  required bool enabled = 1;
  required int32 val = 2;
}

message IntPair {
  required int32 x = 1;
  required int32 y = 2;
}

message FloatPair {
  required float x = 1;
  required float y = 2;
}

message Image {

  enum ImageFormat {
    JPEG = 0;
    BINARY = 1;
  }

  required ImageFormat format = 1;
  optional bytes data = 2;
}

/* ============================================== Parameter Set ==============================================

 The following message definition is processed by GeneratePhaseUI.py to generate PhaseController for SolaisTerminal.
 Each field becomes one UI components, grouped into QGroupBoxes.

 Group label: "// GROUP: <name>". Group name should be capitalized and must not contain spaces or special characters.
 Supported types:
   int32/int64          ->  QDoubleSpinBox with 0 decimal
   float/double         ->  QDoubleSpinBox with 2 decimal
   ToggledInt           ->  QCheckBox + QDoubleSpinBox with 0 decimal
   ToggledFloat         ->  QCheckBox + QDoubleSpinBox with 2 decimal
   FloatRange           ->  2 QDoubleSpinBox with 2 decimal
   ToggledFloatRange    ->  QCheckBox + 2 QDoubleSpinBox with 2 decimal
   IntPair              ->  2 QDoubleSpinBox with 0 decimal
   FloatPair            ->  2 QDoubleSpinBox with 2 decimal
   enumeration          ->  QComboBox
 Every field must be followed by a comment, which is used as its label in UI.
 Enum must start with index 0 and increment by 1.
 All fields must be required.

 */
message ParamSet {

  // GROUP: General
  required int32 image_width = 1;                          // Input width
  required int32 image_height = 2;                         // Image height
  required int32 roi_width = 38;                           // ROI width
  required int32 roi_height = 39;                          // ROI height

  enum EnemyColor {
      RED = 0;
      BLUE = 1;
  };
  required EnemyColor enemy_color = 3;                     // Enemy color

  required float video_speed = 4;                          // Video real speed
  required float video_playback_speed = 5;                 // Video run speed

  // GROUP: Input
  enum CameraBackend {
    OPENCV = 0;
    MV_CAMERA = 1;
  }
  required CameraBackend camera_backend = 6;               // Camera backend

  required int32 camera_id = 7;                            // Camera ID
  required int32 fps = 8;                                  // FPS
  required ToggledFloat gamma = 9;                         // Gamma
  required ToggledInt manual_exposure = 10;                // Manual exposure

  // GROUP: Brightness_Color
  required float brightness_threshold = 11;                // Brightness threshold

  enum ColorThresholdMode {
      HSV = 0;
      RB_CHANNELS = 1;
  };
  required ColorThresholdMode color_threshold_mode = 12;   // Color threshold mode

  required FloatRange hsv_red_hue = 13;                    // Red hue range (for HSV)
  required FloatRange hsv_blue_hue = 14;                   // Blue hue range (for HSV)
  required float rb_channel_threshold = 15;                // RB threshold (for RB_CHANNELS)

  // GROUP: Contours
  required ToggledInt contour_erode = 16;                  // Erode (SLOW)
  required ToggledInt contour_dilate = 17;                 // Dilate (SLOW)
  required ToggledInt contour_open = 18;                   // Open (to reduce noise) (SLOW)
  required ToggledInt contour_close = 19;                  // Close (to fill holes) (SLOW)

  enum ContourFitFunction {
      MIN_AREA_RECT = 0;
      ELLIPSE = 1;
      ELLIPSE_AMS = 2;
      ELLIPSE_DIRECT = 3;
  };
  required ContourFitFunction contour_fit_function = 20;   // Fit function

  required ToggledFloat contour_pixel_count = 21;          // Min contour pixel count
  required ToggledFloat contour_min_area = 22;             // Min contour area
  required ToggledInt long_edge_min_length = 23;           // Min length of the long edge
  required ToggledFloatRange light_aspect_ratio = 24;      // Aspect ratio range
  required ToggledFloat light_max_rotation = 25;           // min(angle, 180 - angle) <

  // GROUP: Armors
  required ToggledFloat light_length_max_ratio = 26;       // Long light / short light <
  required ToggledFloatRange light_x_dist_over_l = 27;     // abs(X1 - X2) / avgL
  required ToggledFloatRange light_y_dist_over_l = 28;     // abs(Y1 - Y2) / avgL
  required ToggledFloat light_angle_max_diff = 29;         // abs(Angle1 - Angle2) [deg] <
  required FloatRange small_armor_aspect_ratio = 30;       // Small armor width/height range
  required FloatRange large_armor_aspect_ratio = 31;       // Large armor width/height range
  required IntPair small_armor_size = 32;                  // Small armor region size [mm]
  required IntPair large_armor_size = 33;                  // Large armor region size [mm]
  required ToggledInt manual_pnp_rect_max_height = 44;     // Use manual PnP rect when height <
  required int32 dist_manual_offset = 45;                  // Manual distance offset

  // GROUP: TopKiller
  required float pulse_min_x_offset = 34;                  // Pulse min X offset [mm]
  required float pulse_max_y_offset = 35;                  // Pulse max Y offset [mm]
  required int32 pulse_min_interval = 43;                  // Min interval between pulses [ms]
  required IntPair tk_threshold = 36;                      // Trigger TopKiller for X pulses in Y ms
  required int32 tk_compute_period_using_pulses = 41;      // TopKiller predicts using last X pulses
  required float tk_target_dist_offset = 42;               // TopKiller target distance offset [mm]

  // GROUP: Aiming
  required int32 tracking_life_time = 40;                  // Consider discard tracking after frames
  required FloatPair manual_delta_offset = 37;             // Manual angle offsets
}

// ============================================== Result Structures ==============================================
message ResultPoint2f {
  required float x = 1;
  required float y = 2;
}

message ResultPoint3f {
  required float x = 1;
  required float y = 2;
  required float z = 3;
}

message ResultRotatedRect {
  required ResultPoint2f center = 1;
  required ResultPoint2f size = 2;
  required float angle = 3;
}

message TopKillerPulse {
  required ResultPoint3f mid_ypd = 1;
  required int32 avg_time = 2;
  required int32 frame_count = 3;
}

message ArmorInfo {
  repeated ResultPoint2f image_points = 1;
  required ResultPoint2f image_center = 2;
  required ResultPoint3f offset = 3;
  required bool large_armor = 5;
  required int32 number = 6;
  required bool selected = 7;
  required ResultPoint3f ypd = 8;
}

/* ============================================== Result Package ==============================================

 Special comments in the following message definition are processed by GeneratePhaseUI.py to generate PhaseController
 for SolaisTerminal. Fields are not processed.

 Group label: "// GROUP: <name>". Group name should be capitalized and must not contain spaces or special characters.
 Supported option (at most one for each):
  "// INFO: <name>" -> QLabel called "<name>Label"
  "// IMAGE: <name>" -> QLabel called "<name>Label" + QImage* called "<name>"
 Fields shall be optional or repeated.

 */
message Result {

  // GROUP: Input
  // INFO: cameraInfo
  // IMAGE: cameraImage
  optional string camera_info = 1;  // Camera info
  optional Image camera_image = 2;  // Camera image

  // GROUP: Brightness_Color
  // IMAGE: brightnessImage
  // IMAGE: colorImage
  optional Image brightness_image = 3;  // Brightness threshold image
  optional Image color_image = 4;  // Color threshold image

  // GROUP: Contours
  // INFO: contourInfo
  // IMAGE: contourImage
  optional Image contour_image = 5;  // Contour image
  repeated ResultRotatedRect lights = 6;

  // GROUP: Armors
  // INFO: armorInfo
  // IMAGE: armorImage
  repeated ArmorInfo armors = 7;

  // GROUP: TopKiller
  // INFO: topKillerInfo
  // IMAGE: topKillerImage
  optional bool tk_triggered = 8;
  repeated TopKillerPulse tk_pulses = 9;
  optional int32 tk_period = 12;

  // GROUP: Aiming
  // INFO: aimingInfo
  optional ResultPoint2f aiming_target = 10;
  optional int32 remaining_time_to_target = 11;
}