Shape dimensions

New Annotations:

I added three new annotations, Sphere, Cuboid and OBBDimensions to store the output of the ClusterShapeAnnotator and the SizeAnnotator. I didn't include dimensions for a box in the Cuboid annotation, since the SizeAnnotator works model independent and doesn't consider outputs from the ClusterShape.

Feel free to suggest changes.

robokudo/src/robokudo/types/annotation.py

@@ -26,6 +26,30 @@ class Plane(robokudo.types.core.Annotation):
         self.inliers = []  # List of pointcloud indices
 
 
+class Cuboid(robokudo.types.core.Type):
+    def __init__(self):
+        super().__init__()
+        self.model = [] # Has shape (3,4) - 3 plane equations
+        self.inliers = []  # List of pointcloud indices
+
+
+class Sphere(robokudo.types.core.Type):
+    def __init__(self):
+        super().__init__()
+        self.radius = 0.0 # Radius of sphere shape
+        self.center = np.zeros(3)  # ndarray with shape (3,) represents a single coordinate
+        self.inliers = []  # List of pointcloud indices        
+
+
+# Store dimensions of oriented bounding box
+class OBBDimensions(robokudo.types.core.Type):
+    def __init__(self):
+        super().__init__()
+        self.width = 0.0
+        self.height = 0.0
+        self.depth = 0.0
+
+
 # Usually a 2D histogram containing hue and saturation
 class ColorHistogram(robokudo.types.core.Annotation):
     def __init__(self):