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Pyreach sync 20220429
1 parent 32b6d17 commit db79755

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-777
lines changed

‎pyreach/common/base/transform_util.py‎

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@@ -12,7 +12,6 @@
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# See the License for the specific language governing permissions and
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# limitations under the License.
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15-
# Lint as: python3
1615
r"""A collection of math transform methods."""
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import math

‎pyreach/common/base/transform_util_test.py‎

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Original file line numberDiff line numberDiff line change
@@ -12,8 +12,6 @@
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# See the License for the specific language governing permissions and
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# limitations under the License.
1414

15-
# Lint as: python3
16-
1715
import json
1816
import math
1917
from typing import List, Optional, Tuple, Union

‎pyreach/common/proto_gen/image_pb2.py‎

Lines changed: 86 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -34,7 +34,7 @@
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syntax='proto3',
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serialized_options=None,
3636
create_key=_descriptor._internal_create_key,
37-
serialized_pb=b'\n\x0bimage.proto\x12\x11robotics.messages\x1a\x1fgoogle/protobuf/timestamp.proto\"\xd7\x08\n\x0c\x45ncodedImage\x12\x0c\n\x04\x63ols\x18\x01 \x01(\x05\x12\x0c\n\x04rows\x18\x02 \x01(\x05\x12\x34\n\x04type\x18\x03 \x01(\x0e\x32$.robotics.messages.EncodedImage.TypeH\x00\x12?\n\npixel_type\x18\x05 \x01(\x0b\x32).robotics.messages.EncodedImage.PixelTypeH\x00\x12\x0c\n\x04\x64\x61ta\x18\x04 \x01(\x0c\x1a\x84\x06\n\tPixelType\x12Q\n\x0fpixel_primitive\x18\x01 \x01(\x0e\x32\x38.robotics.messages.EncodedImage.PixelType.PixelPrimitive\x12P\n\x0e\x63hannel_type_1\x18\x02 \x01(\x0e\x32\x36.robotics.messages.EncodedImage.PixelType.ChannelType1H\x00\x12P\n\x0e\x63hannel_type_3\x18\x03 \x01(\x0e\x32\x36.robotics.messages.EncodedImage.PixelType.ChannelType3H\x00\x12P\n\x0e\x63hannel_type_4\x18\x04 \x01(\x0e\x32\x36.robotics.messages.EncodedImage.PixelType.ChannelType4H\x00\"z\n\x0ePixelPrimitive\x12\x1f\n\x1bUNSPECIFIED_PIXEL_PRIMITIVE\x10\x00\x12\n\n\x06UCHAR8\x10\x01\x12\n\n\x06UINT16\x10\x02\x12\n\n\x06UINT32\x10\x03\x12\t\n\x05INT32\x10\x06\x12\x0b\n\x07\x46LOAT16\x10\x04\x12\x0b\n\x07\x46LOAT32\x10\x05\"\x89\x01\n\x0c\x43hannelType1\x12\x1e\n\x1aUNSPECIFIED_CHANNEL_TYPE_1\x10\x00\x12\x08\n\x04MONO\x10\x01\x12\t\n\x05\x44\x45PTH\x10\x02\x12\r\n\tDISPARITY\x10\x08\x12\r\n\tOCCUPANCY\x10\x03\x12\x08\n\x04\x42GGR\x10\x04\x12\x08\n\x04RGGB\x10\x05\x12\x08\n\x04GBRG\x10\x06\x12\x08\n\x04GRBG\x10\x07\"Q\n\x0c\x43hannelType3\x12\x1e\n\x1aUNSPECIFIED_CHANNEL_TYPE_3\x10\x00\x12\x07\n\x03\x42GR\x10\x01\x12\x07\n\x03RGB\x10\x02\x12\x0f\n\x0bPOINT_CLOUD\x10\x03\"B\n\x0c\x43hannelType4\x12\x1e\n\x1aUNSPECIFIED_CHANNEL_TYPE_4\x10\x00\x12\x08\n\x04\x42GRA\x10\x01\x12\x08\n\x04RGBA\x10\x02\x42\x0f\n\rchannel_oneof\"\x90\x01\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\n\n\x06PNG_U8\x10\x01\x12\x0e\n\nPNG_GRAYU8\x10\x02\x12\n\n\x06JPG_U8\x10\x03\x12\x0e\n\nJPG_GRAYU8\x10\x04\x12\x10\n\x0cROS_DEPTHF32\x10\x05\x12\x0f\n\x0b\x42\x41YER_GRBG8\x10\x06\x12\r\n\tBZIP2_PGM\x10\x07\x12\x11\n\rDEPTH_16U_RVL\x10\x08\x42\x0c\n\ntype_oneof\"\xae\x02\n\x08RawImage\x12\x0c\n\x04\x63ols\x18\x01 \x01(\x05\x12\x0c\n\x04rows\x18\x02 \x01(\x05\x12.\n\x04type\x18\x03 \x01(\x0e\x32 .robotics.messages.RawImage.Type\x12\x0c\n\x04\x64\x61ta\x18\x04 \x01(\x0c\"\xc7\x01\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\n\n\x06GRAYU8\x10\x01\x12\x0b\n\x07GRAYF32\x10\x02\x12\t\n\x05RGBU8\x10\x03\x12\n\n\x06RGBAU8\x10\x0b\x12\n\n\x06RGBF32\x10\x04\x12\x0b\n\x07RGBAF16\x10\r\x12\x0b\n\x07RGBAF32\x10\x0e\x12\t\n\x05\x42GRU8\x10\x05\x12\n\n\x06\x42GRAU8\x10\n\x12\n\n\x06\x42GRF32\x10\x06\x12\x0c\n\x08\x44\x45PTHF32\x10\x07\x12\x0c\n\x08\x44\x45PTHF64\x10\x0c\x12\x0c\n\x08\x44\x45PTHU16\x10\t\x12\x0f\n\x0bOCCUPANCYU8\x10\x08\"\xbf\x01\n\x14TimestampedImageKind\x12-\n\ttimestamp\x18\x01 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x12\x38\n\rencoded_image\x18\x02 \x01(\x0b\x32\x1f.robotics.messages.EncodedImageH\x00\x12\x30\n\traw_image\x18\x03 \x01(\x0b\x32\x1b.robotics.messages.RawImageH\x00\x42\x0c\n\nimage_kindb\x06proto3'
37+
serialized_pb=b'\n\x0bimage.proto\x12\x11robotics.messages\x1a\x1fgoogle/protobuf/timestamp.proto\"\xd7\x08\n\x0c\x45ncodedImage\x12\x0c\n\x04\x63ols\x18\x01 \x01(\x05\x12\x0c\n\x04rows\x18\x02 \x01(\x05\x12\x34\n\x04type\x18\x03 \x01(\x0e\x32$.robotics.messages.EncodedImage.TypeH\x00\x12?\n\npixel_type\x18\x05 \x01(\x0b\x32).robotics.messages.EncodedImage.PixelTypeH\x00\x12\x0c\n\x04\x64\x61ta\x18\x04 \x01(\x0c\x1a\x84\x06\n\tPixelType\x12Q\n\x0fpixel_primitive\x18\x01 \x01(\x0e\x32\x38.robotics.messages.EncodedImage.PixelType.PixelPrimitive\x12P\n\x0e\x63hannel_type_1\x18\x02 \x01(\x0e\x32\x36.robotics.messages.EncodedImage.PixelType.ChannelType1H\x00\x12P\n\x0e\x63hannel_type_3\x18\x03 \x01(\x0e\x32\x36.robotics.messages.EncodedImage.PixelType.ChannelType3H\x00\x12P\n\x0e\x63hannel_type_4\x18\x04 \x01(\x0e\x32\x36.robotics.messages.EncodedImage.PixelType.ChannelType4H\x00\"z\n\x0ePixelPrimitive\x12\x1f\n\x1bUNSPECIFIED_PIXEL_PRIMITIVE\x10\x00\x12\n\n\x06UCHAR8\x10\x01\x12\n\n\x06UINT16\x10\x02\x12\n\n\x06UINT32\x10\x03\x12\t\n\x05INT32\x10\x06\x12\x0b\n\x07\x46LOAT16\x10\x04\x12\x0b\n\x07\x46LOAT32\x10\x05\"\x89\x01\n\x0c\x43hannelType1\x12\x1e\n\x1aUNSPECIFIED_CHANNEL_TYPE_1\x10\x00\x12\x08\n\x04MONO\x10\x01\x12\t\n\x05\x44\x45PTH\x10\x02\x12\r\n\tDISPARITY\x10\x08\x12\r\n\tOCCUPANCY\x10\x03\x12\x08\n\x04\x42GGR\x10\x04\x12\x08\n\x04RGGB\x10\x05\x12\x08\n\x04GBRG\x10\x06\x12\x08\n\x04GRBG\x10\x07\"Q\n\x0c\x43hannelType3\x12\x1e\n\x1aUNSPECIFIED_CHANNEL_TYPE_3\x10\x00\x12\x07\n\x03\x42GR\x10\x01\x12\x07\n\x03RGB\x10\x02\x12\x0f\n\x0bPOINT_CLOUD\x10\x03\"B\n\x0c\x43hannelType4\x12\x1e\n\x1aUNSPECIFIED_CHANNEL_TYPE_4\x10\x00\x12\x08\n\x04\x42GRA\x10\x01\x12\x08\n\x04RGBA\x10\x02\x42\x0f\n\rchannel_oneof\"\x90\x01\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\n\n\x06PNG_U8\x10\x01\x12\x0e\n\nPNG_GRAYU8\x10\x02\x12\n\n\x06JPG_U8\x10\x03\x12\x0e\n\nJPG_GRAYU8\x10\x04\x12\x10\n\x0cROS_DEPTHF32\x10\x05\x12\x0f\n\x0b\x42\x41YER_GRBG8\x10\x06\x12\r\n\tBZIP2_PGM\x10\x07\x12\x11\n\rDEPTH_16U_RVL\x10\x08\x42\x0c\n\ntype_oneof\"\xae\x02\n\x08RawImage\x12\x0c\n\x04\x63ols\x18\x01 \x01(\x05\x12\x0c\n\x04rows\x18\x02 \x01(\x05\x12.\n\x04type\x18\x03 \x01(\x0e\x32 .robotics.messages.RawImage.Type\x12\x0c\n\x04\x64\x61ta\x18\x04 \x01(\x0c\"\xc7\x01\n\x04Type\x12\x0b\n\x07UNKNOWN\x10\x00\x12\n\n\x06GRAYU8\x10\x01\x12\x0b\n\x07GRAYF32\x10\x02\x12\t\n\x05RGBU8\x10\x03\x12\n\n\x06RGBAU8\x10\x0b\x12\n\n\x06RGBF32\x10\x04\x12\x0b\n\x07RGBAF16\x10\r\x12\x0b\n\x07RGBAF32\x10\x0e\x12\t\n\x05\x42GRU8\x10\x05\x12\n\n\x06\x42GRAU8\x10\n\x12\n\n\x06\x42GRF32\x10\x06\x12\x0c\n\x08\x44\x45PTHF32\x10\x07\x12\x0c\n\x08\x44\x45PTHF64\x10\x0c\x12\x0c\n\x08\x44\x45PTHU16\x10\t\x12\x0f\n\x0bOCCUPANCYU8\x10\x08\"\xbf\x01\n\x14TimestampedImageKind\x12-\n\ttimestamp\x18\x01 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x12\x38\n\rencoded_image\x18\x02 \x01(\x0b\x32\x1f.robotics.messages.EncodedImageH\x00\x12\x30\n\traw_image\x18\x03 \x01(\x0b\x32\x1b.robotics.messages.RawImageH\x00\x42\x0c\n\nimage_kind\"\xdb\x01\n\tImageSpec\x12\x0c\n\x04\x63ols\x18\x01 \x01(\x05\x12\x0c\n\x04rows\x18\x02 \x01(\x05\x12\x37\n\x07\x65ncoded\x18\x03 \x01(\x0e\x32$.robotics.messages.EncodedImage.TypeH\x00\x12:\n\x05pixel\x18\x04 \x01(\x0b\x32).robotics.messages.EncodedImage.PixelTypeH\x00\x12/\n\x03raw\x18\x05 \x01(\x0e\x32 .robotics.messages.RawImage.TypeH\x00\x42\x0c\n\nimage_typeb\x06proto3'
3838
,
3939
dependencies=[google_dot_protobuf_dot_timestamp__pb2.DESCRIPTOR,])
4040

@@ -597,6 +597,71 @@
597597
serialized_end=1678,
598598
)
599599

600+
601+
_IMAGESPEC = _descriptor.Descriptor(
602+
name='ImageSpec',
603+
full_name='robotics.messages.ImageSpec',
604+
filename=None,
605+
file=DESCRIPTOR,
606+
containing_type=None,
607+
create_key=_descriptor._internal_create_key,
608+
fields=[
609+
_descriptor.FieldDescriptor(
610+
name='cols', full_name='robotics.messages.ImageSpec.cols', index=0,
611+
number=1, type=5, cpp_type=1, label=1,
612+
has_default_value=False, default_value=0,
613+
message_type=None, enum_type=None, containing_type=None,
614+
is_extension=False, extension_scope=None,
615+
serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
616+
_descriptor.FieldDescriptor(
617+
name='rows', full_name='robotics.messages.ImageSpec.rows', index=1,
618+
number=2, type=5, cpp_type=1, label=1,
619+
has_default_value=False, default_value=0,
620+
message_type=None, enum_type=None, containing_type=None,
621+
is_extension=False, extension_scope=None,
622+
serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
623+
_descriptor.FieldDescriptor(
624+
name='encoded', full_name='robotics.messages.ImageSpec.encoded', index=2,
625+
number=3, type=14, cpp_type=8, label=1,
626+
has_default_value=False, default_value=0,
627+
message_type=None, enum_type=None, containing_type=None,
628+
is_extension=False, extension_scope=None,
629+
serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
630+
_descriptor.FieldDescriptor(
631+
name='pixel', full_name='robotics.messages.ImageSpec.pixel', index=3,
632+
number=4, type=11, cpp_type=10, label=1,
633+
has_default_value=False, default_value=None,
634+
message_type=None, enum_type=None, containing_type=None,
635+
is_extension=False, extension_scope=None,
636+
serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
637+
_descriptor.FieldDescriptor(
638+
name='raw', full_name='robotics.messages.ImageSpec.raw', index=4,
639+
number=5, type=14, cpp_type=8, label=1,
640+
has_default_value=False, default_value=0,
641+
message_type=None, enum_type=None, containing_type=None,
642+
is_extension=False, extension_scope=None,
643+
serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
644+
],
645+
extensions=[
646+
],
647+
nested_types=[],
648+
enum_types=[
649+
],
650+
serialized_options=None,
651+
is_extendable=False,
652+
syntax='proto3',
653+
extension_ranges=[],
654+
oneofs=[
655+
_descriptor.OneofDescriptor(
656+
name='image_type', full_name='robotics.messages.ImageSpec.image_type',
657+
index=0, containing_type=None,
658+
create_key=_descriptor._internal_create_key,
659+
fields=[]),
660+
],
661+
serialized_start=1681,
662+
serialized_end=1900,
663+
)
664+
600665
_ENCODEDIMAGE_PIXELTYPE.fields_by_name['pixel_primitive'].enum_type = _ENCODEDIMAGE_PIXELTYPE_PIXELPRIMITIVE
601666
_ENCODEDIMAGE_PIXELTYPE.fields_by_name['channel_type_1'].enum_type = _ENCODEDIMAGE_PIXELTYPE_CHANNELTYPE1
602667
_ENCODEDIMAGE_PIXELTYPE.fields_by_name['channel_type_3'].enum_type = _ENCODEDIMAGE_PIXELTYPE_CHANNELTYPE3
@@ -635,9 +700,22 @@
635700
_TIMESTAMPEDIMAGEKIND.oneofs_by_name['image_kind'].fields.append(
636701
_TIMESTAMPEDIMAGEKIND.fields_by_name['raw_image'])
637702
_TIMESTAMPEDIMAGEKIND.fields_by_name['raw_image'].containing_oneof = _TIMESTAMPEDIMAGEKIND.oneofs_by_name['image_kind']
703+
_IMAGESPEC.fields_by_name['encoded'].enum_type = _ENCODEDIMAGE_TYPE
704+
_IMAGESPEC.fields_by_name['pixel'].message_type = _ENCODEDIMAGE_PIXELTYPE
705+
_IMAGESPEC.fields_by_name['raw'].enum_type = _RAWIMAGE_TYPE
706+
_IMAGESPEC.oneofs_by_name['image_type'].fields.append(
707+
_IMAGESPEC.fields_by_name['encoded'])
708+
_IMAGESPEC.fields_by_name['encoded'].containing_oneof = _IMAGESPEC.oneofs_by_name['image_type']
709+
_IMAGESPEC.oneofs_by_name['image_type'].fields.append(
710+
_IMAGESPEC.fields_by_name['pixel'])
711+
_IMAGESPEC.fields_by_name['pixel'].containing_oneof = _IMAGESPEC.oneofs_by_name['image_type']
712+
_IMAGESPEC.oneofs_by_name['image_type'].fields.append(
713+
_IMAGESPEC.fields_by_name['raw'])
714+
_IMAGESPEC.fields_by_name['raw'].containing_oneof = _IMAGESPEC.oneofs_by_name['image_type']
638715
DESCRIPTOR.message_types_by_name['EncodedImage'] = _ENCODEDIMAGE
639716
DESCRIPTOR.message_types_by_name['RawImage'] = _RAWIMAGE
640717
DESCRIPTOR.message_types_by_name['TimestampedImageKind'] = _TIMESTAMPEDIMAGEKIND
718+
DESCRIPTOR.message_types_by_name['ImageSpec'] = _IMAGESPEC
641719
_sym_db.RegisterFileDescriptor(DESCRIPTOR)
642720

643721
EncodedImage = _reflection.GeneratedProtocolMessageType('EncodedImage', (_message.Message,), {
@@ -669,5 +747,12 @@
669747
})
670748
_sym_db.RegisterMessage(TimestampedImageKind)
671749

750+
ImageSpec = _reflection.GeneratedProtocolMessageType('ImageSpec', (_message.Message,), {
751+
'DESCRIPTOR' : _IMAGESPEC,
752+
'__module__' : 'image_pb2'
753+
# @@protoc_insertion_point(class_scope:robotics.messages.ImageSpec)
754+
})
755+
_sym_db.RegisterMessage(ImageSpec)
756+
672757

673758
# @@protoc_insertion_point(module_scope)

‎pyreach/common/proto_gen/image_pb2.pyi‎

Lines changed: 27 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -359,3 +359,30 @@ class TimestampedImageKind(google.protobuf.message.Message):
359359
def ClearField(self, field_name: typing_extensions.Literal["encoded_image",b"encoded_image","image_kind",b"image_kind","raw_image",b"raw_image","timestamp",b"timestamp"]) -> None: ...
360360
def WhichOneof(self, oneof_group: typing_extensions.Literal["image_kind",b"image_kind"]) -> typing.Optional[typing_extensions.Literal["encoded_image","raw_image"]]: ...
361361
global___TimestampedImageKind = TimestampedImageKind
362+
363+
class ImageSpec(google.protobuf.message.Message):
364+
"""Specification for an image."""
365+
DESCRIPTOR: google.protobuf.descriptor.Descriptor
366+
COLS_FIELD_NUMBER: builtins.int
367+
ROWS_FIELD_NUMBER: builtins.int
368+
ENCODED_FIELD_NUMBER: builtins.int
369+
PIXEL_FIELD_NUMBER: builtins.int
370+
RAW_FIELD_NUMBER: builtins.int
371+
cols: builtins.int
372+
rows: builtins.int
373+
encoded: global___EncodedImage.Type.ValueType
374+
@property
375+
def pixel(self) -> global___EncodedImage.PixelType: ...
376+
raw: global___RawImage.Type.ValueType
377+
def __init__(self,
378+
*,
379+
cols: builtins.int = ...,
380+
rows: builtins.int = ...,
381+
encoded: global___EncodedImage.Type.ValueType = ...,
382+
pixel: typing.Optional[global___EncodedImage.PixelType] = ...,
383+
raw: global___RawImage.Type.ValueType = ...,
384+
) -> None: ...
385+
def HasField(self, field_name: typing_extensions.Literal["encoded",b"encoded","image_type",b"image_type","pixel",b"pixel","raw",b"raw"]) -> builtins.bool: ...
386+
def ClearField(self, field_name: typing_extensions.Literal["cols",b"cols","encoded",b"encoded","image_type",b"image_type","pixel",b"pixel","raw",b"raw","rows",b"rows"]) -> None: ...
387+
def WhichOneof(self, oneof_group: typing_extensions.Literal["image_type",b"image_type"]) -> typing.Optional[typing_extensions.Literal["encoded","pixel","raw"]]: ...
388+
global___ImageSpec = ImageSpec

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