fix: restore missing pose values (matrix/vector+quaternion/geodetic) (db4ee53b) · Commits · ARF - Augmented Reality Framework / ARF

API/common/commonopenapi.yaml

+119 −228

Original line number	Diff line number	Diff line
		@@ -93,115 +93,6 @@
		example: 4JA1xVJSYKE47UM7RKDrfUcTXlJ0wxSQ
		description: A string representing the session ID associated with the AR session.

		Pose:
		description: An element representing the result of the pose estimation of an AR device, a Trackable or a WorldAnchor by the World Analysis
		type: object
		properties:
		uuid:
		description: UUID of the associated Anchor or Trackable
		type: string
		format: uuid
		example: "fa8bbe40-8052-11ec-a8a3-0242ac120002"
		estimationState:
		description: Extensible List of possible states of the pose estimation
		type: string
		enum: [OK, FAILURE]
		example: OK
		instructionInfo:
		description: A message detailing the context of the pose estimation
		type: string
		example: Lighting is toom dim
		timestamp:
		description: Capture time of the pose as number of milliseconds since unix epoch
		type: integer
		example : 1704812114841
		confidence:
		description: A score representing the confidence concerning the accuracy of the pose estimated
		type: number
		example : 50.00
		mode:
		description: Mode representing the context of the Relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)
		$ref: '#/components/schemas/Mode_WorldAnalysis'
		value:
		description: The pose value
		oneOf:
		- $ref: '#/components/schemas/MatrixPoseValue'
		- $ref: '#/components/schemas/VectorQuaternionPoseValue'
		- $ref: '#/components/schemas/GeodeticPoseValue'
		example:
		type: "MATRIX"
		transform: [ 1, 0, 0, 3,
		0, 1, 0, 3,
		0, 0, 1, 3,
		0, 0, 0, 1 ]
		subscriptionUrl:
		description: The URL to use for subscription (if available), see [/pose/subscriptions]
		type: string
		example: "http://mywordanalysisserver.com/pose/subscriptions?target=fa8bbe40-8052-11ec-a8a3-0242ac120002"

		PoseValue:
		description: Base type to define the pose value
		type: object
		properties:
		type:
		description: Encoding type of the Pose
		type: string
		enum: [MATRIX, VECTOR_QUATERNION, GEODETIC]

		MatrixPoseValue:
		description: A pose value that is described with a 4*4 matrix
		allOf: #inheritance
		- $ref: '#/components/schemas/PoseValue'
		properties:
		transform:
		description : Pose data
		$ref: '#/components/schemas/Transform3D'
		unit:
		description: Unit system of the pose
		$ref: '#/components/schemas/UnitSystem'

		VectorQuaternionPoseValue:
		description: A pose value that is described with a position and a rotation
		allOf: #inheritance
		- $ref: '#/components/schemas/PoseValue'
		properties:
		position:
		description : Pose Position
		$ref: '#/components/schemas/Vector3'
		rotation:
		description : Pose Rotation
		$ref: '#/components/schemas/Quaternion'
		unit:
		description: Unit system of the pose
		$ref: '#/components/schemas/UnitSystem'

		GeodeticPoseValue:
		description : A pose value in a geodetic coordinate system
		allOf: #inheritance
		- $ref: '#/components/schemas/PoseValue'
		properties:
		altitude:
		type: number
		example: 70.0
		longitude:
		type: number
		example: 7.013579
		latitude:
		type: number
		example: 43.57351
		rotation:
		description: Pose Rotation
		$ref: '#/components/schemas/Quaternion'
		geodeticsystem:
		description: Associated geodetic system of the pose
		type: string
		example: "WGS84"
		rotationTarget:
		description: Coordinate system of the rotation
		type : string
		enum: [EASTUPSOUTH, WESTUPNORTH]
		example: EASTUPSOUTH

		Vector3:
		description: A 3 coordinates vector
		type: array

API/worldanalysis/worldanalysisopenapi.yaml

+207 −162

Original line number	Diff line number	Diff line
		@@ -450,7 +450,6 @@ components:
		#-------------------------------
		schemas:


		Pose:
		description: An element representing the result of the pose estimation of an AR device, a Trackable or a WorldAnchor by the World Analysis
		type: object
		@@ -479,19 +478,23 @@ components:
		example : 50.00
		mode:
		description: Mode representing the context of the Relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)
		$ref: '../common/commonopenapi.yaml#/components/schemas/Mode_WorldAnalysis'
		$ref: '#/components/schemas/Mode_WorldAnalysis'
		value:
		description: The pose value
		oneOf:
		- $ref: '#/components/schemas/MatrixPoseValue'
		- $ref: '../common/commonopenapi.yaml#/components/schemas/VectorQuaternionPoseValue'
		- $ref: '../common/commonopenapi.yaml#/components/schemas/GeodeticPoseValue'
		- $ref: '#/components/schemas/VectorQuaternionPoseValue'
		- $ref: '#/components/schemas/GeodeticPoseValue'
		example:
		type: "MATRIX"
		transform: [ 1, 0, 0, 3,
		0, 1, 0, 3,
		0, 0, 1, 3,
		0, 0, 0, 1 ]
		subscriptionUrl:
		description: The URL to use for subscription (if available), see [/pose/subscriptions]
		type: string
		example: "http://mywordanalysisserver.com/pose/subscriptions?target=fa8bbe40-8052-11ec-a8a3-0242ac120002"

		PoseValue:
		description: Base type to define the pose value
		@@ -508,12 +511,54 @@ components:
		- $ref: '#/components/schemas/PoseValue'
		properties:
		transform:
		description : Pose data
		description : Transor data
		$ref: '../common/commonopenapi.yaml#/components/schemas/Transform3D'
		unit:
		description: Unit system of the pose
		$ref: '../common/commonopenapi.yaml#/components/schemas/UnitSystem'

		VectorQuaternionPoseValue:
		description: A pose value that is described with a position and a rotation
		allOf: #inheritance
		- $ref: '#/components/schemas/PoseValue'
		properties:
		position:
		description : Pose Position
		$ref: '../common/commonopenapi.yaml#/components/schemas/Vector3'
		rotation:
		description : Pose Rotation
		$ref: '../common/commonopenapi.yaml#/components/schemas/Quaternion'
		unit:
		description: Unit system of the pose
		$ref: '../common/commonopenapi.yaml#/components/schemas/UnitSystem'

		GeodeticPoseValue:
		description : A pose value in a geodetic coordinate system
		allOf: #inheritance
		- $ref: '#/components/schemas/PoseValue'
		properties:
		altitude:
		type: number
		example: 70.0
		longitude:
		type: number
		example: 7.013579
		latitude:
		type: number
		example: 43.57351
		rotation:
		description: Pose Rotation
		$ref: '../common/commonopenapi.yaml#/components/schemas/Quaternion'
		geodeticsystem:
		description: Associated geodetic system of the pose
		type: string
		example: "WGS84"
		rotationTarget:
		description: Coordinate system of the rotation
		type : string
		enum: [EASTUPSOUTH, WESTUPNORTH]
		example: EASTUPSOUTH

		PoseConfiguration:
		description: An object representing the framerate that the World Analysis needs to reach for a given Trackable Type
		type: object