@foxglove/schemas 0.1.2 → 0.4.0

package/schemas/README.md

@@ -0,0 +1,1711 @@
+# Foxglove schemas
+
+See [Foxglove Schemas documentation](https://foxglove.dev/docs/studio/messages).
+
+All schemas are generated from [schemas.ts](/src/schemas.ts).
+
+## Contents
+
+- [enum LogLevel](#enum-loglevel)
+- [enum NumericType](#enum-numerictype)
+- [enum PointsAnnotationType](#enum-pointsannotationtype)
+- [enum PositionCovarianceType](#enum-positioncovariancetype)
+- [CameraCalibration](#cameracalibration)
+- [CircleAnnotation](#circleannotation)
+- [Color](#color)
+- [CompressedImage](#compressedimage)
+- [FrameTransform](#frametransform)
+- [GeoJSON](#geojson)
+- [Grid](#grid)
+- [ImageAnnotations](#imageannotations)
+- [LaserScan](#laserscan)
+- [LocationFix](#locationfix)
+- [Log](#log)
+- [PackedElementField](#packedelementfield)
+- [Point2](#point2)
+- [Point3](#point3)
+- [PointCloud](#pointcloud)
+- [PointsAnnotation](#pointsannotation)
+- [Pose](#pose)
+- [PoseInFrame](#poseinframe)
+- [PosesInFrame](#posesinframe)
+- [Quaternion](#quaternion)
+- [RawImage](#rawimage)
+- [Vector2](#vector2)
+- [Vector3](#vector3)
+
+----
+
+## enum LogLevel
+
+Log level
+
+name | value | description
+---- | ----- | -----------
+`UNKNOWN` | 0 | 
+`DEBUG` | 1 | 
+`INFO` | 2 | 
+`WARNING` | 3 | 
+`ERROR` | 4 | 
+`FATAL` | 5 | 
+
+
+
+## enum NumericType
+
+Numeric type
+
+name | value | description
+---- | ----- | -----------
+`UNKNOWN` | 0 | 
+`UINT8` | 1 | 
+`INT8` | 2 | 
+`UINT16` | 3 | 
+`INT16` | 4 | 
+`UINT32` | 5 | 
+`INT32` | 6 | 
+`FLOAT32` | 7 | 
+`FLOAT64` | 8 | 
+
+
+
+## enum PointsAnnotationType
+
+Type of points annotation
+
+name | value | description
+---- | ----- | -----------
+`UNKNOWN` | 0 | 
+`POINTS` | 1 | 
+`LINE_LOOP` | 2 | 
+`LINE_STRIP` | 3 | 
+`LINE_LIST` | 4 | 
+
+
+
+## enum PositionCovarianceType
+
+Type of position covariance
+
+name | value | description
+---- | ----- | -----------
+`UNKNOWN` | 0 | 
+`APPROXIMATED` | 1 | 
+`DIAGONAL_KNOWN` | 2 | 
+`KNOWN` | 3 | 
+
+
+
+## CameraCalibration
+
+Camera calibration parameters
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>timestamp</code></td>
+<td>
+
+time
+
+</td>
+<td>
+
+Timestamp of calibration data
+
+</td>
+</tr>
+<tr>
+<td><code>width</code></td>
+<td>
+
+uint32
+
+</td>
+<td>
+
+Image width
+
+</td>
+</tr>
+<tr>
+<td><code>height</code></td>
+<td>
+
+uint32
+
+</td>
+<td>
+
+Image height
+
+</td>
+</tr>
+<tr>
+<td><code>distortion_model</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Name of distortion model
+
+</td>
+</tr>
+<tr>
+<td><code>D</code></td>
+<td>
+
+float64[]
+
+</td>
+<td>
+
+Distortion parameters
+
+</td>
+</tr>
+<tr>
+<td><code>K</code></td>
+<td>
+
+float64[9]
+
+</td>
+<td>
+
+Intrinsic camera matrix (3x3 row-major matrix)
+
+A 3x3 row-major matrix for the raw (distorted) image.
+
+Projects 3D points in the camera coordinate frame to 2D pixel coordinates using the focal lengths (fx, fy) and principal point (cx, cy).
+
+```
+    [fx  0 cx]
+K = [ 0 fy cy]
+    [ 0  0  1]
+```
+
+
+</td>
+</tr>
+<tr>
+<td><code>R</code></td>
+<td>
+
+float64[9]
+
+</td>
+<td>
+
+Rectification matrix (3x3 row-major matrix)
+
+A rotation matrix aligning the camera coordinate system to the ideal stereo image plane so that epipolar lines in both stereo images are parallel.
+
+</td>
+</tr>
+<tr>
+<td><code>P</code></td>
+<td>
+
+float64[12]
+
+</td>
+<td>
+
+Projection/camera matrix (3x4 row-major matrix)
+
+```
+    [fx'  0  cx' Tx]
+P = [ 0  fy' cy' Ty]
+    [ 0   0   1   0]
+```
+
+By convention, this matrix specifies the intrinsic (camera) matrix of the processed (rectified) image. That is, the left 3x3 portion is the normal camera intrinsic matrix for the rectified image.
+
+It projects 3D points in the camera coordinate frame to 2D pixel coordinates using the focal lengths (fx', fy') and principal point (cx', cy') - these may differ from the values in K.
+
+For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will also have R = the identity and P[1:3,1:3] = K.
+
+For a stereo pair, the fourth column [Tx Ty 0]' is related to the position of the optical center of the second camera in the first camera's frame. We assume Tz = 0 so both cameras are in the same stereo image plane. The first camera always has Tx = Ty = 0. For the right (second) camera of a horizontal stereo pair, Ty = 0 and Tx = -fx' * B, where B is the baseline between the cameras.
+
+Given a 3D point [X Y Z]', the projection (x, y) of the point onto the rectified image is given by:
+
+```
+[u v w]' = P * [X Y Z 1]'
+       x = u / w
+       y = v / w
+```
+
+This holds for both images of a stereo pair.
+
+
+</td>
+</tr>
+</table>
+
+## CircleAnnotation
+
+A circle annotation on a 2D image
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>timestamp</code></td>
+<td>
+
+time
+
+</td>
+<td>
+
+Timestamp of circle
+
+</td>
+</tr>
+<tr>
+<td><code>position</code></td>
+<td>
+
+[Point2](#point2)
+
+</td>
+<td>
+
+Center of the circle in 2D image coordinates
+
+</td>
+</tr>
+<tr>
+<td><code>diameter</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+Circle diameter
+
+</td>
+</tr>
+<tr>
+<td><code>thickness</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+Line thickness
+
+</td>
+</tr>
+<tr>
+<td><code>fill_color</code></td>
+<td>
+
+[Color](#color)
+
+</td>
+<td>
+
+Fill color
+
+</td>
+</tr>
+<tr>
+<td><code>outline_color</code></td>
+<td>
+
+[Color](#color)
+
+</td>
+<td>
+
+Outline color
+
+</td>
+</tr>
+</table>
+
+## Color
+
+A color in RGBA format
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>r</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+Red value between 0 and 1
+
+</td>
+</tr>
+<tr>
+<td><code>g</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+Green value between 0 and 1
+
+</td>
+</tr>
+<tr>
+<td><code>b</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+Blue value between 0 and 1
+
+</td>
+</tr>
+<tr>
+<td><code>a</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+Alpha value between 0 and 1
+
+</td>
+</tr>
+</table>
+
+## CompressedImage
+
+A compressed image
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>timestamp</code></td>
+<td>
+
+time
+
+</td>
+<td>
+
+Timestamp of image
+
+</td>
+</tr>
+<tr>
+<td><code>data</code></td>
+<td>
+
+bytes
+
+</td>
+<td>
+
+Compressed image data
+
+</td>
+</tr>
+<tr>
+<td><code>format</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Image format
+
+</td>
+</tr>
+</table>
+
+## FrameTransform
+
+A transform between two reference frames in 3D space
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>timestamp</code></td>
+<td>
+
+time
+
+</td>
+<td>
+
+Timestamp of transform
+
+</td>
+</tr>
+<tr>
+<td><code>parent_frame_id</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Name of the parent frame
+
+</td>
+</tr>
+<tr>
+<td><code>child_frame_id</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Name of the child frame
+
+</td>
+</tr>
+<tr>
+<td><code>translation</code></td>
+<td>
+
+[Vector3](#vector3)
+
+</td>
+<td>
+
+Translation component of the transform
+
+</td>
+</tr>
+<tr>
+<td><code>rotation</code></td>
+<td>
+
+[Quaternion](#quaternion)
+
+</td>
+<td>
+
+Rotation component of the transform
+
+</td>
+</tr>
+</table>
+
+## GeoJSON
+
+GeoJSON data for annotating maps
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>geojson</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+GeoJSON data encoded as a UTF-8 string
+
+</td>
+</tr>
+</table>
+
+## Grid
+
+A 2D grid of data
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>timestamp</code></td>
+<td>
+
+time
+
+</td>
+<td>
+
+Timestamp of grid
+
+</td>
+</tr>
+<tr>
+<td><code>frame_id</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Frame of reference
+
+</td>
+</tr>
+<tr>
+<td><code>pose</code></td>
+<td>
+
+[Pose](#pose)
+
+</td>
+<td>
+
+Origin of grid's corner relative to frame of reference; grid is positioned in the x-y plane relative to this origin
+
+</td>
+</tr>
+<tr>
+<td><code>column_count</code></td>
+<td>
+
+uint32
+
+</td>
+<td>
+
+Number of grid columns
+
+</td>
+</tr>
+<tr>
+<td><code>cell_size</code></td>
+<td>
+
+[Vector2](#vector2)
+
+</td>
+<td>
+
+Size of single grid cell along x and y axes, relative to `pose`
+
+</td>
+</tr>
+<tr>
+<td><code>row_stride</code></td>
+<td>
+
+uint32
+
+</td>
+<td>
+
+Number of bytes between rows in `data`
+
+</td>
+</tr>
+<tr>
+<td><code>cell_stride</code></td>
+<td>
+
+uint32
+
+</td>
+<td>
+
+Number of bytes between cells within a row in `data`
+
+</td>
+</tr>
+<tr>
+<td><code>fields</code></td>
+<td>
+
+[PackedElementField](#packedelementfield)[]
+
+</td>
+<td>
+
+Fields in `data`
+
+</td>
+</tr>
+<tr>
+<td><code>data</code></td>
+<td>
+
+bytes
+
+</td>
+<td>
+
+Grid cell data, interpreted using `fields`, in row-major (y-major) order
+
+</td>
+</tr>
+</table>
+
+## ImageAnnotations
+
+Array of annotations for a 2D image
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>circles</code></td>
+<td>
+
+[CircleAnnotation](#circleannotation)[]
+
+</td>
+<td>
+
+Circle annotations
+
+</td>
+</tr>
+<tr>
+<td><code>points</code></td>
+<td>
+
+[PointsAnnotation](#pointsannotation)[]
+
+</td>
+<td>
+
+Points annotations
+
+</td>
+</tr>
+</table>
+
+## LaserScan
+
+A single scan from a planar laser range-finder
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>timestamp</code></td>
+<td>
+
+time
+
+</td>
+<td>
+
+Timestamp of scan
+
+</td>
+</tr>
+<tr>
+<td><code>frame_id</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Frame of reference
+
+</td>
+</tr>
+<tr>
+<td><code>pose</code></td>
+<td>
+
+[Pose](#pose)
+
+</td>
+<td>
+
+Origin of scan relative to frame of reference; points are positioned in the x-y plane relative to this origin; angles are interpreted as counterclockwise rotations around the z axis with 0 rad being in the +x direction
+
+</td>
+</tr>
+<tr>
+<td><code>start_angle</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+Bearing of first point, in radians
+
+</td>
+</tr>
+<tr>
+<td><code>end_angle</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+Bearing of last point, in radians
+
+</td>
+</tr>
+<tr>
+<td><code>ranges</code></td>
+<td>
+
+float64[]
+
+</td>
+<td>
+
+Distance of detections from origin; assumed to be at equally-spaced angles between `start_angle` and `end_angle`
+
+</td>
+</tr>
+<tr>
+<td><code>intensities</code></td>
+<td>
+
+float64[]
+
+</td>
+<td>
+
+Intensity of detections
+
+</td>
+</tr>
+</table>
+
+## LocationFix
+
+A navigation satellite fix for any Global Navigation Satellite System
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>latitude</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+Latitude in degrees
+
+</td>
+</tr>
+<tr>
+<td><code>longitude</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+Longitude in degrees
+
+</td>
+</tr>
+<tr>
+<td><code>altitude</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+Altitude in meters
+
+</td>
+</tr>
+<tr>
+<td><code>position_covariance</code></td>
+<td>
+
+float64[9]
+
+</td>
+<td>
+
+Position covariance (m^2) defined relative to a tangential plane through the reported position. The components are East, North, and Up (ENU), in row-major order.
+
+</td>
+</tr>
+<tr>
+<td><code>position_covariance_type</code></td>
+<td>
+
+[enum PositionCovarianceType](#enum-positioncovariancetype)
+
+</td>
+<td>
+
+If `position_covariance` is available, `position_covariance_type` must be set to indicate the type of covariance.
+
+</td>
+</tr>
+</table>
+
+## Log
+
+A log message
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>timestamp</code></td>
+<td>
+
+time
+
+</td>
+<td>
+
+Timestamp of log message
+
+</td>
+</tr>
+<tr>
+<td><code>level</code></td>
+<td>
+
+[enum LogLevel](#enum-loglevel)
+
+</td>
+<td>
+
+Log level
+
+</td>
+</tr>
+<tr>
+<td><code>message</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Log message
+
+</td>
+</tr>
+<tr>
+<td><code>name</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Process or node name
+
+</td>
+</tr>
+<tr>
+<td><code>file</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Filename
+
+</td>
+</tr>
+<tr>
+<td><code>line</code></td>
+<td>
+
+uint32
+
+</td>
+<td>
+
+Line number in the file
+
+</td>
+</tr>
+</table>
+
+## PackedElementField
+
+A field present within each element in a byte array of packed elements.
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>name</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Name of the field
+
+</td>
+</tr>
+<tr>
+<td><code>offset</code></td>
+<td>
+
+uint32
+
+</td>
+<td>
+
+Byte offset from start of data buffer
+
+</td>
+</tr>
+<tr>
+<td><code>type</code></td>
+<td>
+
+[enum NumericType](#enum-numerictype)
+
+</td>
+<td>
+
+Type of data in the field. Integers are stored using little-endian byte order.
+
+</td>
+</tr>
+</table>
+
+## Point2
+
+A point representing a position in 2D space
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>x</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+x coordinate position
+
+</td>
+</tr>
+<tr>
+<td><code>y</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+y coordinate position
+
+</td>
+</tr>
+</table>
+
+## Point3
+
+A point representing a position in 3D space
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>x</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+x coordinate position
+
+</td>
+</tr>
+<tr>
+<td><code>y</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+y coordinate position
+
+</td>
+</tr>
+<tr>
+<td><code>z</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+z coordinate position
+
+</td>
+</tr>
+</table>
+
+## PointCloud
+
+A collection of N-dimensional points, which may contain additional fields with information like normals, intensity, etc.
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>timestamp</code></td>
+<td>
+
+time
+
+</td>
+<td>
+
+Timestamp of point cloud
+
+</td>
+</tr>
+<tr>
+<td><code>frame_id</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Frame of reference
+
+</td>
+</tr>
+<tr>
+<td><code>pose</code></td>
+<td>
+
+[Pose](#pose)
+
+</td>
+<td>
+
+The origin of the point cloud relative to the frame of reference
+
+</td>
+</tr>
+<tr>
+<td><code>point_stride</code></td>
+<td>
+
+uint32
+
+</td>
+<td>
+
+Number of bytes between points in the `data`
+
+</td>
+</tr>
+<tr>
+<td><code>fields</code></td>
+<td>
+
+[PackedElementField](#packedelementfield)[]
+
+</td>
+<td>
+
+Fields in the `data`
+
+</td>
+</tr>
+<tr>
+<td><code>data</code></td>
+<td>
+
+bytes
+
+</td>
+<td>
+
+Point data, interpreted using `fields`
+
+</td>
+</tr>
+</table>
+
+## PointsAnnotation
+
+An array of points on a 2D image
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>timestamp</code></td>
+<td>
+
+time
+
+</td>
+<td>
+
+Timestamp of annotation
+
+</td>
+</tr>
+<tr>
+<td><code>type</code></td>
+<td>
+
+[enum PointsAnnotationType](#enum-pointsannotationtype)
+
+</td>
+<td>
+
+Type of points annotation to draw
+
+</td>
+</tr>
+<tr>
+<td><code>points</code></td>
+<td>
+
+[Point2](#point2)[]
+
+</td>
+<td>
+
+Points in 2D image coordinates
+
+</td>
+</tr>
+<tr>
+<td><code>outline_color</code></td>
+<td>
+
+[Color](#color)
+
+</td>
+<td>
+
+Outline color
+
+</td>
+</tr>
+<tr>
+<td><code>outline_colors</code></td>
+<td>
+
+[Color](#color)[]
+
+</td>
+<td>
+
+Per-point colors, if `type` is `POINTS`, or per-segment stroke colors, if `type` is `LINE_LIST`.
+
+</td>
+</tr>
+<tr>
+<td><code>fill_color</code></td>
+<td>
+
+[Color](#color)
+
+</td>
+<td>
+
+Fill color
+
+</td>
+</tr>
+<tr>
+<td><code>thickness</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+Stroke thickness
+
+</td>
+</tr>
+</table>
+
+## Pose
+
+A position and orientation for an object or reference frame in 3D space
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>position</code></td>
+<td>
+
+[Vector3](#vector3)
+
+</td>
+<td>
+
+Point denoting position in 3D space
+
+</td>
+</tr>
+<tr>
+<td><code>orientation</code></td>
+<td>
+
+[Quaternion](#quaternion)
+
+</td>
+<td>
+
+Quaternion denoting orientation in 3D space
+
+</td>
+</tr>
+</table>
+
+## PoseInFrame
+
+A timestamped pose for an object or reference frame in 3D space
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>timestamp</code></td>
+<td>
+
+time
+
+</td>
+<td>
+
+Timestamp of pose
+
+</td>
+</tr>
+<tr>
+<td><code>frame_id</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Frame of reference for pose position and orientation
+
+</td>
+</tr>
+<tr>
+<td><code>pose</code></td>
+<td>
+
+[Pose](#pose)
+
+</td>
+<td>
+
+Pose in 3D space
+
+</td>
+</tr>
+</table>
+
+## PosesInFrame
+
+An array of timestamped poses for an object or reference frame in 3D space
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>timestamp</code></td>
+<td>
+
+time
+
+</td>
+<td>
+
+Timestamp of pose
+
+</td>
+</tr>
+<tr>
+<td><code>frame_id</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Frame of reference for pose position and orientation
+
+</td>
+</tr>
+<tr>
+<td><code>poses</code></td>
+<td>
+
+[Pose](#pose)[]
+
+</td>
+<td>
+
+Poses in 3D space
+
+</td>
+</tr>
+</table>
+
+## Quaternion
+
+A [quaternion](https://eater.net/quaternions) representing a rotation in 3D space
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>x</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+x value
+
+</td>
+</tr>
+<tr>
+<td><code>y</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+y value
+
+</td>
+</tr>
+<tr>
+<td><code>z</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+z value
+
+</td>
+</tr>
+<tr>
+<td><code>w</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+w value
+
+</td>
+</tr>
+</table>
+
+## RawImage
+
+A raw image
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>timestamp</code></td>
+<td>
+
+time
+
+</td>
+<td>
+
+Timestamp of image
+
+</td>
+</tr>
+<tr>
+<td><code>width</code></td>
+<td>
+
+uint32
+
+</td>
+<td>
+
+Image width
+
+</td>
+</tr>
+<tr>
+<td><code>height</code></td>
+<td>
+
+uint32
+
+</td>
+<td>
+
+Image height
+
+</td>
+</tr>
+<tr>
+<td><code>encoding</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Encoding of the raw image data
+
+</td>
+</tr>
+<tr>
+<td><code>step</code></td>
+<td>
+
+uint32
+
+</td>
+<td>
+
+Byte length of a single row
+
+</td>
+</tr>
+<tr>
+<td><code>data</code></td>
+<td>
+
+bytes
+
+</td>
+<td>
+
+Raw image data
+
+</td>
+</tr>
+</table>
+
+## Vector2
+
+A vector in 2D space that represents a direction only
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>x</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+x coordinate length
+
+</td>
+</tr>
+<tr>
+<td><code>y</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+y coordinate length
+
+</td>
+</tr>
+</table>
+
+## Vector3
+
+A vector in 3D space that represents a direction only
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>x</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+x coordinate length
+
+</td>
+</tr>
+<tr>
+<td><code>y</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+y coordinate length
+
+</td>
+</tr>
+<tr>
+<td><code>z</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+z coordinate length
+
+</td>
+</tr>
+</table>