Add ZED SVO to MCAP conversion tool

proto/foxglove/CameraCalibration.proto

@@ -0,0 +1,37 @@
+// Generated by https://github.com/foxglove/foxglove-sdk
+
+syntax = "proto3";
+
+import "google/protobuf/timestamp.proto";
+
+package foxglove;
+
+// Camera calibration parameters
+message CameraCalibration {
+  // Timestamp of calibration data
+  google.protobuf.Timestamp timestamp = 1;
+
+  // Frame of reference for the camera. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+  string frame_id = 9;
+
+  // Image width
+  fixed32 width = 2;
+
+  // Image height
+  fixed32 height = 3;
+
+  // Name of distortion model
+  string distortion_model = 4;
+
+  // Distortion parameters
+  repeated double D = 5;
+
+  // Intrinsic camera matrix (3x3 row-major matrix)
+  repeated double K = 6;
+
+  // Rectification matrix (3x3 row-major matrix)
+  repeated double R = 7;
+
+  // Projection/camera matrix (3x4 row-major matrix)
+  repeated double P = 8;
+}

proto/foxglove/Pose.proto

@@ -0,0 +1,17 @@
+// Generated by https://github.com/foxglove/foxglove-sdk
+
+syntax = "proto3";
+
+import "proto/foxglove/Quaternion.proto";
+import "proto/foxglove/Vector3.proto";
+
+package foxglove;
+
+// A position and orientation for an object or reference frame in 3D space
+message Pose {
+  // Point denoting position in 3D space
+  foxglove.Vector3 position = 1;
+
+  // Quaternion denoting orientation in 3D space
+  foxglove.Quaternion orientation = 2;
+}

proto/foxglove/PoseInFrame.proto

@@ -0,0 +1,20 @@
+// Generated by https://github.com/foxglove/foxglove-sdk
+
+syntax = "proto3";
+
+import "proto/foxglove/Pose.proto";
+import "google/protobuf/timestamp.proto";
+
+package foxglove;
+
+// A timestamped pose for an object or reference frame in 3D space
+message PoseInFrame {
+  // Timestamp of pose
+  google.protobuf.Timestamp timestamp = 1;
+
+  // Frame of reference for pose position and orientation
+  string frame_id = 2;
+
+  // Pose in 3D space
+  foxglove.Pose pose = 3;
+}

proto/foxglove/Quaternion.proto

@@ -0,0 +1,20 @@
+// Generated by https://github.com/foxglove/foxglove-sdk
+
+syntax = "proto3";
+
+package foxglove;
+
+// A quaternion representing a rotation in 3D space
+message Quaternion {
+  // x value
+  double x = 1;
+
+  // y value
+  double y = 2;
+
+  // z value
+  double z = 3;
+
+  // w value
+  double w = 4;
+}

proto/foxglove/Vector3.proto

@@ -0,0 +1,17 @@
+// Generated by https://github.com/foxglove/foxglove-sdk
+
+syntax = "proto3";
+
+package foxglove;
+
+// A vector in 3D space that represents a direction only
+message Vector3 {
+  // x coordinate length
+  double x = 1;
+
+  // y coordinate length
+  double y = 2;
+
+  // z coordinate length
+  double z = 3;
+}