[RSDK-10140] add relative bounding box coordinates to detections (#640)

Co-authored-by: github-actions <41898282+github-actions[bot]@users.noreply.github.com>

I changed the comment from what was in Jira. I'm willing to change it back if you want, though personally I think this is more useful (making the comment say they're normalized doesn't add anything I didn't already get from the field names). 

The scope doc is in RSDK-10082.

Author: penguinland

gen/js/service/vision/v1/vision_pb.d.ts

@@ -152,6 +152,26 @@ export class Detection extends jspb.Message {
   getClassName(): string;
   setClassName(value: string): void;
 
+  hasXMinNormalized(): boolean;
+  clearXMinNormalized(): void;
+  getXMinNormalized(): number;
+  setXMinNormalized(value: number): void;
+
+  hasYMinNormalized(): boolean;
+  clearYMinNormalized(): void;
+  getYMinNormalized(): number;
+  setYMinNormalized(value: number): void;
+
+  hasXMaxNormalized(): boolean;
+  clearXMaxNormalized(): void;
+  getXMaxNormalized(): number;
+  setXMaxNormalized(value: number): void;
+
+  hasYMaxNormalized(): boolean;
+  clearYMaxNormalized(): void;
+  getYMaxNormalized(): number;
+  setYMaxNormalized(value: number): void;
+
   serializeBinary(): Uint8Array;
   toObject(includeInstance?: boolean): Detection.AsObject;
   static toObject(includeInstance: boolean, msg: Detection): Detection.AsObject;
@@ -170,6 +190,10 @@ export namespace Detection {
     yMax: number,
     confidence: number,
     className: string,
+    xMinNormalized: number,
+    yMinNormalized: number,
+    xMaxNormalized: number,
+    yMaxNormalized: number,
   }
 }
 

gen/js/service/vision/v1/vision_pb.js

@@ -1268,7 +1268,11 @@ proto.viam.service.vision.v1.Detection.toObject = function(includeInstance, msg)
     xMax: jspb.Message.getFieldWithDefault(msg, 3, 0),
     yMax: jspb.Message.getFieldWithDefault(msg, 4, 0),
     confidence: jspb.Message.getFloatingPointFieldWithDefault(msg, 5, 0.0),
-    className: jspb.Message.getFieldWithDefault(msg, 6, "")
+    className: jspb.Message.getFieldWithDefault(msg, 6, ""),
+    xMinNormalized: jspb.Message.getFloatingPointFieldWithDefault(msg, 7, 0.0),
+    yMinNormalized: jspb.Message.getFloatingPointFieldWithDefault(msg, 8, 0.0),
+    xMaxNormalized: jspb.Message.getFloatingPointFieldWithDefault(msg, 9, 0.0),
+    yMaxNormalized: jspb.Message.getFloatingPointFieldWithDefault(msg, 10, 0.0)
   };
 
   if (includeInstance) {
@@ -1329,6 +1333,22 @@ proto.viam.service.vision.v1.Detection.deserializeBinaryFromReader = function(ms
       var value = /** @type {string} */ (reader.readString());
       msg.setClassName(value);
       break;
+    case 7:
+      var value = /** @type {number} */ (reader.readDouble());
+      msg.setXMinNormalized(value);
+      break;
+    case 8:
+      var value = /** @type {number} */ (reader.readDouble());
+      msg.setYMinNormalized(value);
+      break;
+    case 9:
+      var value = /** @type {number} */ (reader.readDouble());
+      msg.setXMaxNormalized(value);
+      break;
+    case 10:
+      var value = /** @type {number} */ (reader.readDouble());
+      msg.setYMaxNormalized(value);
+      break;
     default:
       reader.skipField();
       break;
@@ -1400,6 +1420,34 @@ proto.viam.service.vision.v1.Detection.serializeBinaryToWriter = function(messag
       f
     );
   }
+  f = /** @type {number} */ (jspb.Message.getField(message, 7));
+  if (f != null) {
+    writer.writeDouble(
+      7,
+      f
+    );
+  }
+  f = /** @type {number} */ (jspb.Message.getField(message, 8));
+  if (f != null) {
+    writer.writeDouble(
+      8,
+      f
+    );
+  }
+  f = /** @type {number} */ (jspb.Message.getField(message, 9));
+  if (f != null) {
+    writer.writeDouble(
+      9,
+      f
+    );
+  }
+  f = /** @type {number} */ (jspb.Message.getField(message, 10));
+  if (f != null) {
+    writer.writeDouble(
+      10,
+      f
+    );
+  }
 };
 
 
@@ -1583,6 +1631,150 @@ proto.viam.service.vision.v1.Detection.prototype.setClassName = function(value)
 };
 
 
+/**
+ * optional double x_min_normalized = 7;
+ * @return {number}
+ */
+proto.viam.service.vision.v1.Detection.prototype.getXMinNormalized = function() {
+  return /** @type {number} */ (jspb.Message.getFloatingPointFieldWithDefault(this, 7, 0.0));
+};
+
+
+/**
+ * @param {number} value
+ * @return {!proto.viam.service.vision.v1.Detection} returns this
+ */
+proto.viam.service.vision.v1.Detection.prototype.setXMinNormalized = function(value) {
+  return jspb.Message.setField(this, 7, value);
+};
+
+
+/**
+ * Clears the field making it undefined.
+ * @return {!proto.viam.service.vision.v1.Detection} returns this
+ */
+proto.viam.service.vision.v1.Detection.prototype.clearXMinNormalized = function() {
+  return jspb.Message.setField(this, 7, undefined);
+};
+
+
+/**
+ * Returns whether this field is set.
+ * @return {boolean}
+ */
+proto.viam.service.vision.v1.Detection.prototype.hasXMinNormalized = function() {
+  return jspb.Message.getField(this, 7) != null;
+};
+
+
+/**
+ * optional double y_min_normalized = 8;
+ * @return {number}
+ */
+proto.viam.service.vision.v1.Detection.prototype.getYMinNormalized = function() {
+  return /** @type {number} */ (jspb.Message.getFloatingPointFieldWithDefault(this, 8, 0.0));
+};
+
+
+/**
+ * @param {number} value
+ * @return {!proto.viam.service.vision.v1.Detection} returns this
+ */
+proto.viam.service.vision.v1.Detection.prototype.setYMinNormalized = function(value) {
+  return jspb.Message.setField(this, 8, value);
+};
+
+
+/**
+ * Clears the field making it undefined.
+ * @return {!proto.viam.service.vision.v1.Detection} returns this
+ */
+proto.viam.service.vision.v1.Detection.prototype.clearYMinNormalized = function() {
+  return jspb.Message.setField(this, 8, undefined);
+};
+
+
+/**
+ * Returns whether this field is set.
+ * @return {boolean}
+ */
+proto.viam.service.vision.v1.Detection.prototype.hasYMinNormalized = function() {
+  return jspb.Message.getField(this, 8) != null;
+};
+
+
+/**
+ * optional double x_max_normalized = 9;
+ * @return {number}
+ */
+proto.viam.service.vision.v1.Detection.prototype.getXMaxNormalized = function() {
+  return /** @type {number} */ (jspb.Message.getFloatingPointFieldWithDefault(this, 9, 0.0));
+};
+
+
+/**
+ * @param {number} value
+ * @return {!proto.viam.service.vision.v1.Detection} returns this
+ */
+proto.viam.service.vision.v1.Detection.prototype.setXMaxNormalized = function(value) {
+  return jspb.Message.setField(this, 9, value);
+};
+
+
+/**
+ * Clears the field making it undefined.
+ * @return {!proto.viam.service.vision.v1.Detection} returns this
+ */
+proto.viam.service.vision.v1.Detection.prototype.clearXMaxNormalized = function() {
+  return jspb.Message.setField(this, 9, undefined);
+};
+
+
+/**
+ * Returns whether this field is set.
+ * @return {boolean}
+ */
+proto.viam.service.vision.v1.Detection.prototype.hasXMaxNormalized = function() {
+  return jspb.Message.getField(this, 9) != null;
+};
+
+
+/**
+ * optional double y_max_normalized = 10;
+ * @return {number}
+ */
+proto.viam.service.vision.v1.Detection.prototype.getYMaxNormalized = function() {
+  return /** @type {number} */ (jspb.Message.getFloatingPointFieldWithDefault(this, 10, 0.0));
+};
+
+
+/**
+ * @param {number} value
+ * @return {!proto.viam.service.vision.v1.Detection} returns this
+ */
+proto.viam.service.vision.v1.Detection.prototype.setYMaxNormalized = function(value) {
+  return jspb.Message.setField(this, 10, value);
+};
+
+
+/**
+ * Clears the field making it undefined.
+ * @return {!proto.viam.service.vision.v1.Detection} returns this
+ */
+proto.viam.service.vision.v1.Detection.prototype.clearYMaxNormalized = function() {
+  return jspb.Message.setField(this, 10, undefined);
+};
+
+
+/**
+ * Returns whether this field is set.
+ * @return {boolean}
+ */
+proto.viam.service.vision.v1.Detection.prototype.hasYMaxNormalized = function() {
+  return jspb.Message.getField(this, 10) != null;
+};
+
+
 
 
 

proto/viam/service/vision/v1/vision.proto

@@ -97,6 +97,11 @@ message Detection {
   double confidence = 5;
   // label associated with the detected object
   string class_name = 6;
+  // the four corners of the box, in proportion to the respective image dimension
+  optional double x_min_normalized = 7;
+  optional double y_min_normalized = 8;
+  optional double x_max_normalized = 9;
+  optional double y_max_normalized = 10;
 }
 
 message GetClassificationsRequest {