@foxglove/schemas 0.1.2

package/schemas/jsonschema/Vector3.json

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+{
+  "$comment": "Generated from Vector3 by @foxglove/schemas",
+  "title": "Vector3",
+  "description": "A vector in 3D space that represents a direction only",
+  "type": "object",
+  "properties": {
+    "x": {
+      "type": "number",
+      "description": "x coordinate length"
+    },
+    "y": {
+      "type": "number",
+      "description": "y coordinate length"
+    },
+    "z": {
+      "type": "number",
+      "description": "z coordinate length"
+    }
+  }
+}

package/schemas/proto/foxglove/CameraCalibration.proto

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+// Generated from CameraCalibration by @foxglove/schemas
+
+syntax = "proto3";
+
+import "google/protobuf/timestamp.proto";
+
+package foxglove;
+
+// Camera calibration parameters
+message CameraCalibration {
+  // Timestamp of calibration data
+  google.protobuf.Timestamp timestamp = 1;
+
+  // 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)
+  // 
+  // 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]
+  // ```
+  repeated double K = 6; // length 9
+
+  // 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.
+  repeated double R = 7; // length 9
+
+  // 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.
+  repeated double P = 8; // length 12
+}

package/schemas/proto/foxglove/CircleAnnotation.proto

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+// Generated from CircleAnnotation by @foxglove/schemas
+
+syntax = "proto3";
+
+import "foxglove/Color.proto";
+import "foxglove/Point2.proto";
+import "google/protobuf/timestamp.proto";
+
+package foxglove;
+
+// A circle annotation on a 2D image
+message CircleAnnotation {
+  // Timestamp of circle
+  google.protobuf.Timestamp timestamp = 1;
+
+  // Center of the circle in 2D image coordinates
+  foxglove.Point2 position = 2;
+
+  // Circle diameter
+  double diameter = 3;
+
+  // Line thickness
+  double thickness = 4;
+
+  // Fill color
+  foxglove.Color fill_color = 5;
+
+  // Outline color
+  foxglove.Color outline_color = 6;
+}

package/schemas/proto/foxglove/Color.proto

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+// Generated from Color by @foxglove/schemas
+
+syntax = "proto3";
+
+package foxglove;
+
+// A color in RGBA format
+message Color {
+  // Red value between 0 and 1
+  double r = 1;
+
+  // Green value between 0 and 1
+  double g = 2;
+
+  // Blue value between 0 and 1
+  double b = 3;
+
+  // Alpha value between 0 and 1
+  double a = 4;
+}

package/schemas/proto/foxglove/CompressedImage.proto

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+// Generated from CompressedImage by @foxglove/schemas
+
+syntax = "proto3";
+
+import "google/protobuf/timestamp.proto";
+
+package foxglove;
+
+// A compressed image
+message CompressedImage {
+  // Timestamp of image
+  google.protobuf.Timestamp timestamp = 1;
+
+  // Compressed image data
+  bytes data = 2;
+
+  // Image format
+  string format = 3;
+}

package/schemas/proto/foxglove/FrameTransform.proto

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+// Generated from FrameTransform by @foxglove/schemas
+
+syntax = "proto3";
+
+import "foxglove/Transform.proto";
+import "google/protobuf/timestamp.proto";
+
+package foxglove;
+
+// A transform between two reference frames in 3D space
+message FrameTransform {
+  // Timestamp of transform
+  google.protobuf.Timestamp timestamp = 1;
+
+  // Name of the parent frame
+  string parent_frame_id = 2;
+
+  // Name of the child frame
+  string child_frame_id = 3;
+
+  // Transform from parent frame to child frame
+  foxglove.Transform transform = 4;
+}

package/schemas/proto/foxglove/GeoJSON.proto

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+// Generated from GeoJSON by @foxglove/schemas
+
+syntax = "proto3";
+
+package foxglove;
+
+// GeoJSON data for annotating maps
+message GeoJSON {
+  // GeoJSON data encoded as a UTF-8 string
+  string geojson = 1;
+}

package/schemas/proto/foxglove/Grid.proto

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+// Generated from Grid by @foxglove/schemas
+
+syntax = "proto3";
+
+import "foxglove/PackedElementField.proto";
+import "foxglove/Pose.proto";
+import "foxglove/Vector2.proto";
+import "google/protobuf/timestamp.proto";
+
+package foxglove;
+
+// A 2D grid of data
+message Grid {
+  // Timestamp of grid
+  google.protobuf.Timestamp timestamp = 1;
+
+  // Frame of reference
+  string frame_id = 2;
+
+  // Origin of grid's corner relative to frame of reference; grid is positioned in the x-y plane relative to this origin
+  foxglove.Pose pose = 3;
+
+  // Number of grid columns
+  fixed32 column_count = 4;
+
+  // Size of single grid cell along x and y axes, relative to `pose`
+  foxglove.Vector2 cell_size = 5;
+
+  // Number of bytes between rows in `data`
+  fixed32 row_stride = 6;
+
+  // Number of bytes between cells within a row in `data`
+  fixed32 cell_stride = 7;
+
+  // Fields in `data`
+  repeated foxglove.PackedElementField fields = 8;
+
+  // Grid cell data, interpreted using `fields`, in row-major (y-major) order
+  bytes data = 9;
+}

package/schemas/proto/foxglove/ImageAnnotations.proto

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+// Generated from ImageAnnotations by @foxglove/schemas
+
+syntax = "proto3";
+
+import "foxglove/CircleAnnotation.proto";
+import "foxglove/PointsAnnotation.proto";
+
+package foxglove;
+
+// Array of annotations for a 2D image
+message ImageAnnotations {
+  // Circle annotations
+  repeated foxglove.CircleAnnotation circles = 1;
+
+  // Points annotations
+  repeated foxglove.PointsAnnotation points = 2;
+}

package/schemas/proto/foxglove/LaserScan.proto

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+// Generated from LaserScan by @foxglove/schemas
+
+syntax = "proto3";
+
+import "foxglove/Pose.proto";
+import "google/protobuf/timestamp.proto";
+
+package foxglove;
+
+// A single scan from a planar laser range-finder
+message LaserScan {
+  // Timestamp of scan
+  google.protobuf.Timestamp timestamp = 1;
+
+  // Frame of reference
+  string frame_id = 2;
+
+  // 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
+  foxglove.Pose pose = 3;
+
+  // Bearing of first point, in radians
+  double start_angle = 4;
+
+  // Bearing of last point, in radians
+  double end_angle = 5;
+
+  // Distance of detections from origin; assumed to be at equally-spaced angles between `start_angle` and `end_angle`
+  repeated double ranges = 6;
+
+  // Intensity of detections
+  repeated double intensities = 7;
+}

package/schemas/proto/foxglove/LocationFix.proto

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+// Generated from LocationFix by @foxglove/schemas
+
+syntax = "proto3";
+
+package foxglove;
+
+// A navigation satellite fix for any Global Navigation Satellite System
+message LocationFix {
+  // Type of position covariance
+  enum PositionCovarianceType {
+    UNKNOWN = 0;
+
+    APPROXIMATED = 1;
+
+    DIAGONAL_KNOWN = 2;
+
+    KNOWN = 3;
+  }
+  // Latitude in degrees
+  double latitude = 1;
+
+  // Longitude in degrees
+  double longitude = 2;
+
+  // Altitude in meters
+  double altitude = 3;
+
+  // 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.
+  repeated double position_covariance = 4; // length 9
+
+  // If `position_covariance` is available, `position_covariance_type` must be set to indicate the type of covariance.
+  PositionCovarianceType position_covariance_type = 5;
+}

package/schemas/proto/foxglove/Log.proto

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+// Generated from Log by @foxglove/schemas
+
+syntax = "proto3";
+
+import "google/protobuf/timestamp.proto";
+
+package foxglove;
+
+// A log message
+message Log {
+  // Log level
+  enum Level {
+    UNKNOWN = 0;
+
+    DEBUG = 1;
+
+    INFO = 2;
+
+    WARNING = 3;
+
+    ERROR = 4;
+
+    FATAL = 5;
+  }
+  // Timestamp of log message
+  google.protobuf.Timestamp timestamp = 1;
+
+  // Log level
+  Level level = 2;
+
+  // Log message
+  string message = 3;
+
+  // Process or node name
+  string name = 4;
+
+  // Filename
+  string file = 5;
+
+  // Line number in the file
+  fixed32 line = 6;
+}

package/schemas/proto/foxglove/PackedElementField.proto

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+// Generated from PackedElementField by @foxglove/schemas
+
+syntax = "proto3";
+
+package foxglove;
+
+// List of fields for every element in a byte array
+message PackedElementField {
+  // Numeric type
+  enum NumericType {
+    UNKNOWN = 0;
+
+    UINT8 = 1;
+
+    INT8 = 2;
+
+    UINT16 = 3;
+
+    INT16 = 4;
+
+    UINT32 = 5;
+
+    INT32 = 6;
+
+    FLOAT32 = 7;
+
+    FLOAT64 = 8;
+  }
+  // Name of the field
+  string name = 1;
+
+  // Byte offset from start of data buffer
+  fixed32 offset = 2;
+
+  // Type of data in the field. Integers are stored using little-endian byte order.
+  NumericType type = 3;
+}

package/schemas/proto/foxglove/Point2.proto

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+// Generated from Point2 by @foxglove/schemas
+
+syntax = "proto3";
+
+package foxglove;
+
+// A point representing a position in 2D space
+message Point2 {
+  // x coordinate position
+  double x = 1;
+
+  // y coordinate position
+  double y = 2;
+}

package/schemas/proto/foxglove/Point3.proto

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+// Generated from Point3 by @foxglove/schemas
+
+syntax = "proto3";
+
+package foxglove;
+
+// A point representing a position in 3D space
+message Point3 {
+  // x coordinate position
+  double x = 1;
+
+  // y coordinate position
+  double y = 2;
+
+  // z coordinate position
+  double z = 3;
+}

package/schemas/proto/foxglove/PointCloud.proto

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+// Generated from PointCloud by @foxglove/schemas
+
+syntax = "proto3";
+
+import "foxglove/PackedElementField.proto";
+import "foxglove/Pose.proto";
+import "google/protobuf/timestamp.proto";
+
+package foxglove;
+
+// A collection of N-dimensional points, which may contain additional fields with information like normals, intensity, etc.
+message PointCloud {
+  // Timestamp of point cloud
+  google.protobuf.Timestamp timestamp = 1;
+
+  // Frame of reference
+  string frame_id = 2;
+
+  // The origin of the point cloud relative to the frame of reference
+  foxglove.Pose pose = 3;
+
+  // Number of bytes between points in the `data`
+  fixed32 point_stride = 4;
+
+  // Fields in the `data`
+  repeated foxglove.PackedElementField fields = 5;
+
+  // Point data, interpreted using `fields`
+  bytes data = 6;
+}

package/schemas/proto/foxglove/PointsAnnotation.proto

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+// Generated from PointsAnnotation by @foxglove/schemas
+
+syntax = "proto3";
+
+import "foxglove/Color.proto";
+import "foxglove/Point2.proto";
+import "google/protobuf/timestamp.proto";
+
+package foxglove;
+
+// An array of points on a 2D image
+message PointsAnnotation {
+  // Type of points annotation
+  enum Type {
+    UNKNOWN = 0;
+
+    POINTS = 1;
+
+    LINE_LOOP = 2;
+
+    LINE_STRIP = 3;
+
+    LINE_LIST = 4;
+  }
+  // Timestamp of annotation
+  google.protobuf.Timestamp timestamp = 1;
+
+  // Type of points annotation to draw
+  Type type = 2;
+
+  // Points in 2D image coordinates
+  repeated foxglove.Point2 points = 3;
+
+  // Outline colors
+  repeated foxglove.Color outline_colors = 4;
+
+  // Fill color
+  foxglove.Color fill_color = 5;
+}

package/schemas/proto/foxglove/Pose.proto

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+// Generated from Pose by @foxglove/schemas
+
+syntax = "proto3";
+
+import "foxglove/Quaternion.proto";
+import "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;
+}

package/schemas/proto/foxglove/PoseInFrame.proto

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+// Generated from PoseInFrame by @foxglove/schemas
+
+syntax = "proto3";
+
+import "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;
+}

package/schemas/proto/foxglove/PosesInFrame.proto

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+// Generated from PosesInFrame by @foxglove/schemas
+
+syntax = "proto3";
+
+import "foxglove/Pose.proto";
+import "google/protobuf/timestamp.proto";
+
+package foxglove;
+
+// An array of timestamped poses for an object or reference frame in 3D space
+message PosesInFrame {
+  // Timestamp of pose
+  google.protobuf.Timestamp timestamp = 1;
+
+  // Frame of reference for pose position and orientation
+  string frame_id = 2;
+
+  // Poses in 3D space
+  repeated foxglove.Pose poses = 3;
+}

package/schemas/proto/foxglove/Quaternion.proto

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+// Generated from Quaternion by @foxglove/schemas
+
+syntax = "proto3";
+
+package foxglove;
+
+// A [quaternion](https://eater.net/quaternions) 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;
+}

package/schemas/proto/foxglove/RawImage.proto

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+// Generated from RawImage by @foxglove/schemas
+
+syntax = "proto3";
+
+import "google/protobuf/timestamp.proto";
+
+package foxglove;
+
+// A raw image
+message RawImage {
+  // Timestamp of image
+  google.protobuf.Timestamp timestamp = 1;
+
+  // Image width
+  fixed32 width = 2;
+
+  // Image height
+  fixed32 height = 3;
+
+  // Encoding of the raw image data
+  string encoding = 4;
+
+  // Byte length of a single row
+  fixed32 step = 5;
+
+  // Raw image data
+  bytes data = 6;
+}

package/schemas/proto/foxglove/Transform.proto

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+// Generated from Transform by @foxglove/schemas
+
+syntax = "proto3";
+
+import "foxglove/Quaternion.proto";
+import "foxglove/Vector3.proto";
+import "google/protobuf/timestamp.proto";
+
+package foxglove;
+
+// A transform in 3D space
+message Transform {
+  // Transform time
+  google.protobuf.Timestamp timestamp = 1;
+
+  // Translation component of the transform
+  foxglove.Vector3 translation = 2;
+
+  // Rotation component of the transform
+  foxglove.Quaternion rotation = 3;
+}

package/schemas/proto/foxglove/Vector2.proto

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+// Generated from Vector2 by @foxglove/schemas
+
+syntax = "proto3";
+
+package foxglove;
+
+// A vector in 2D space that represents a direction only
+message Vector2 {
+  // x coordinate length
+  double x = 1;
+
+  // y coordinate length
+  double y = 2;
+}

package/schemas/proto/foxglove/Vector3.proto

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+// Generated from Vector3 by @foxglove/schemas
+
+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;
+}