feat: Add ProbabilisticKeyPoint3D and ProbabilisticKeyLine3D

Author: kunlin596

dgp/proto/annotations.proto

@@ -252,6 +252,22 @@ message KeyPoint3D {
   float z = 3;
 }
 
+// 3D point with uncertainty information.
+message ProbabilisticKeyPoint3D {
+  // (x, y, z) point (in 3D Cartesian coordinates).
+  float x = 1;
+  float y = 2;
+  float z = 3;
+
+  // The correlation terms in the 3x3 covariance matrix.
+  float var_x = 4;
+  float cov_xy = 5;
+  float cov_xz = 6;
+  float var_y = 7;
+  float cov_yz = 8;
+  float var_z = 9;
+}
+
 // 3D point annotation.
 message KeyPoint3DAnnotation {
   // Class identifier (should be in [0, num_classes - 1]),
@@ -290,6 +306,24 @@ message KeyLine3DAnnotation{
   string key = 4;
 }
 
+message ProbabilisticKeyLine3DAnnotation {
+  // Class identifier (should be in [0, num_classes - 1]),
+  // where num_classes is the total number of classes in your ontology.
+  uint32 class_id = 1;
+
+  // 3D line.
+  repeated ProbabilisticKeyPoint3D vertices = 2;
+
+  // A map of attribute names to their values.
+  // Add only key/value pairs that are stored in a project document accessible
+  // to project contributors.
+  map<string, string> attributes = 3;
+
+  // An identifier key. Used to link with other annotations, which specify
+  // this key in their instance to link to corresponding KeyLine3DAnnotation.
+  string key = 4;
+}
+
 message PolygonPoint3D {
   // (x, y, z) point (in 3D Cartesian coordinates).
   float x = 1;
@@ -406,6 +440,10 @@ message KeyLine3DAnnotations {
   repeated KeyLine3DAnnotation annotations = 1;
 }
 
+message ProbabilisticKeyLine3DAnnotations {
+  repeated ProbabilisticKeyLine3DAnnotation annotations = 1;
+}
+
 // List of Polygon3DAnnotation.
 message Polygon3DAnnotations {
   repeated Polygon3DAnnotation annotations = 1;