schema: add reference coordinate system to Poses

[DavidTorresOcana]

Currently, Poses are used to represent SE3 Transformations. A transformation is an affine transformation between two coordinate systems (CS) and, and as such, is bounded to these two (source and destination) coordinate systems.

In other words, a Pose shall indicate the two coordinate system it transforms points in between of.

As, in DGP, each Pose is linked to a datum, a sensor or a piece of information, the only missing CS is the reference (destination) coordinate system.

This PR proposes explicit indication of such Reference Coordinate System on each Pose.

This is in line with ASAM OpenLABEL CS definitions where each piece of information is linked to a CS.

Pending still TODO, but not in the scope of this PR (conversation is encouraged), is how to define and name these CS. ASAM OpenLABEL CS definitions, ISO 8855 and ISO 23150 are a good start.

@rachel-lien @akira-wakatsuki-woven ping

This change is 

[rachel-lien]

+@yuta-tsuzuki-woven Can you help review?

Reviewed 2 of 2 files at r1, 1 of 1 files at r2, all commit messages.
Reviewable status: all files reviewed, 3 unresolved discussions (waiting on @DavidTorresOcana and @yuta-tsuzuki-woven)

---

dgp/utils/pose.py line 87 at r2 (raw file):

        """Returns a new Pose that corresponds to the
        inverse of this one.

nit, can you update the docstring with a parameters section for new_reference_coordinate_system per style guide?

https://github.com/TRI-ML/dgp/blob/master/docs/CONTRIBUTING.md#code-style
https://numpydoc.readthedocs.io/en/latest/format.html#parameters

---

dgp/utils/pose.py line 152 at r2 (raw file):

        transformation_matrix: np.ndarray
            4x4 containing rotation/translation

nit, can you update the docstring parameters section for reference_coordinate_system per style guide?

https://github.com/TRI-ML/dgp/blob/master/docs/CONTRIBUTING.md#code-style
https://numpydoc.readthedocs.io/en/latest/format.html#parameters

---

dgp/utils/pose.py line 171 at r2 (raw file):

        tvec : np.ndarray
            length-3 translation vector
        """

nit, can you update the docstring parameters section for reference_coordinate_system per style guide?

https://github.com/TRI-ML/dgp/blob/master/docs/CONTRIBUTING.md#code-style
https://numpydoc.readthedocs.io/en/latest/format.html#parameters

[DavidTorresOcana]

dgp/utils/pose.py line 171 at r2 (raw file):

Previously, rachel-lien wrote…

nit, can you update the docstring parameters section for reference_coordinate_system per style guide?

https://github.com/TRI-ML/dgp/blob/master/docs/CONTRIBUTING.md#code-style
https://numpydoc.readthedocs.io/en/latest/format.html#parameters

It seems I missed to document these. New commit should address these

[rachel-lien]

Reviewed 1 of 1 files at r3, all commit messages.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @yuta-tsuzuki-woven)

[yuta-tsuzuki-woven]

with a minor comment

Reviewed all commit messages.
Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @DavidTorresOcana)

---

dgp/utils/pose.py line 92 at r3 (raw file):

        result: Pose
            new_reference_coordinate_system pose
        reference_coordinate_system: str

nit, I think you need to add Parameters explanation in the docstring

        Parameters
        ----------
        new_reference_coordinate_system: str
            ...

[DavidTorresOcana]

dgp/utils/pose.py line 92 at r3 (raw file):

Previously, yuta-tsuzuki-woven wrote…

nit, I think you need to add Parameters explanation in the docstring

        Parameters
        ----------
        new_reference_coordinate_system: str
            ...

oh! I missed this! Thank you for catching it.
I also updated the docstring style of that file to match Numpy's

[rachel-lien]

Reviewed 1 of 1 files at r4, all commit messages.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @DavidTorresOcana)

[DavidTorresOcana]

Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @DavidTorresOcana)

[rachel-lien]

Reviewable status: 2 of 3 files reviewed, all discussions resolved (waiting on @DavidTorresOcana)

[yuta-tsuzuki-woven]

Reviewed 1 of 1 files at r5, all commit messages.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @DavidTorresOcana)

[DavidTorresOcana]

is it ok to merge?

[yuta-tsuzuki-woven]

LGTM

Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @DavidTorresOcana)

[DavidTorresOcana]

Anything else to do @rachel-lien @yuta-tsuzuki-woven ?