schema: add instance and semantic segmentation 3D schema (#143)

* schema: add instance and semantic segmentation 3D schema

* schema: remove references to annotation data in point cloud format

* schema: add explanation on deprecated values

* schema: retain numerical order of ChannelType

.pre-commit-config.yaml

@@ -70,4 +70,5 @@ repos:
           -e, '*env*',
           -e, 'build/*'
         ]
+        exclude: '\w*pb2.py'
         additional_dependencies: [toml]

dgp/proto/annotations.proto

@@ -115,7 +115,7 @@ message BoundingBox2DAnnotation {
   uint32 instance_id = 5;
 
   // A map of attribute names to their values.
-  // This can be used to stored `agent_behavior` states (i.e., parked car, 
+  // This can be used to stored `agent_behavior` states (i.e., parked car,
   // pedestrian intent).
   map<string, string> attributes = 6;
 }
@@ -124,7 +124,7 @@ message BoundingBox2DAnnotation {
 message BoundingBox3D {
   // 3D Bounding box. Produced by first constructing a box of dimensions
   // width, length, height centered at the origin, then rotating it by the
-  // specified quaternion and finally translating the box to the center 
+  // specified quaternion and finally translating the box to the center
   // coordinate.
 
   // 6DoF pose of bounding 3D.
@@ -313,6 +313,52 @@ message Polygon3DAnnotation{
   map<string, string> attributes = 3;
 }
 
+// 3D point.
+message SemanticSegmentationPoint3D {
+  // (x, y, z) point (in 3D Cartesian coordinates).
+  float x = 1;
+  float y = 2;
+  float z = 3;
+}
+
+// Semantic segmentation 3D annotation.
+message SemanticSegmentation3DAnnotation {
+  // 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 point.
+  SemanticSegmentationPoint3D point = 2;
+
+  // A map of attribute names to their values.
+  map<string, string> attributes = 3;
+}
+
+// 3D point.
+message InstanceSegmentationPoint3D {
+  // (x, y, z) point (in 3D Cartesian coordinates).
+  float x = 1;
+  float y = 2;
+  float z = 3;
+}
+
+// Instance segmentation 3D annotation.
+message InstanceSegmentation3DAnnotation {
+  // Instance identifier (should be in [0, num_instances - 1]),
+  // where num_instances is the total number of instances in your
+  // point cloud.
+  uint32 instance_id = 1;
+
+  // Class identifier (should be in [0, num_classes - 1]),
+  // where num_classes is the total number of classes in your ontology.
+  uint32 class_id = 2;
+
+  // 3D point.
+  InstanceSegmentationPoint3D point = 3;
+
+  // A map of attribute names to their values.
+  map<string, string> attributes = 4;
+}
 
 // List of BoundingBox2DAnnotation
 message BoundingBox2DAnnotations {
@@ -358,3 +404,13 @@ message KeyLine3DAnnotations {
 message Polygon3DAnnotations {
   repeated Polygon3DAnnotation annotations = 1;
 }
+
+// List of SemanticSegmentation3DAnnotation.
+message SemanticSegmentation3DAnnotations {
+  repeated SemanticSegmentation3DAnnotation annotations = 1;
+}
+
+// List of InstanceSegmentation3DAnnotation.
+message InstanceSegmentation3DAnnotations {
+  repeated InstanceSegmentation3DAnnotation annotations = 1;
+}