@foxglove/schemas 0.1.2

package/schemas/ros2/PointsAnnotation.msg

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+# Generated from PointsAnnotation by @foxglove/schemas
+
+# Timestamp of annotation
+builtin_interfaces/Time timestamp
+
+uint8 UNKNOWN=0
+uint8 POINTS=1
+uint8 LINE_LOOP=2
+uint8 LINE_STRIP=3
+uint8 LINE_LIST=4
+
+# Type of points annotation to draw
+uint8 type
+
+# Points in 2D image coordinates
+foxglove_msgs/Point2[] points
+
+# Outline colors
+foxglove_msgs/Color[] outline_colors
+
+# Fill color
+foxglove_msgs/Color fill_color

package/schemas/ros2/PoseInFrame.msg

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+# Generated from PoseInFrame by @foxglove/schemas
+
+# Timestamp of pose
+builtin_interfaces/Time timestamp
+
+# Frame of reference for pose position and orientation
+string frame_id
+
+# Pose in 3D space
+geometry_msgs/Pose pose

package/schemas/ros2/PosesInFrame.msg

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+# Generated from PosesInFrame by @foxglove/schemas
+
+# Timestamp of pose
+builtin_interfaces/Time timestamp
+
+# Frame of reference for pose position and orientation
+string frame_id
+
+# Poses in 3D space
+geometry_msgs/Pose[] poses

package/schemas/ros2/RawImage.msg

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+# Generated from RawImage by @foxglove/schemas
+
+# Timestamp of image
+builtin_interfaces/Time timestamp
+
+# Image width
+uint32 width
+
+# Image height
+uint32 height
+
+# Encoding of the raw image data
+string encoding
+
+# Byte length of a single row
+uint32 step
+
+# Raw image data
+uint8[] data

package/schemas/ros2/Transform.msg

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+# Generated from Transform by @foxglove/schemas
+
+# Transform time
+builtin_interfaces/Time timestamp
+
+# Translation component of the transform
+geometry_msgs/Vector3 translation
+
+# Rotation component of the transform
+geometry_msgs/Quaternion rotation

package/schemas/ros2/Vector2.msg

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+# Generated from Vector2 by @foxglove/schemas
+
+# x coordinate length
+float64 x
+
+# y coordinate length
+float64 y

package/schemas/typescript/CameraCalibration.ts

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+// Generated from CameraCalibration by @foxglove/schemas
+
+import { Time } from "./Time";
+
+/** Camera calibration parameters */
+export type CameraCalibration = {
+  /** Timestamp of calibration data */
+  timestamp: Time;
+
+  /** Image width */
+  width: number;
+
+  /** Image height */
+  height: number;
+
+  /** Name of distortion model */
+  distortion_model: string;
+
+  /** Distortion parameters */
+  D: number[];
+
+  /**
+   * 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]
+   * ```
+   */
+  K: [number, number, number, number, number, number, number, number, number];
+
+  /**
+   * 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.
+   */
+  R: [number, number, number, number, number, number, number, number, number];
+
+  /**
+   * 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.
+   */
+  P: [number, number, number, number, number, number, number, number, number, number, number, number];
+};

package/schemas/typescript/CircleAnnotation.ts

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+// Generated from CircleAnnotation by @foxglove/schemas
+
+import { Color } from "./Color";
+import { Point2 } from "./Point2";
+import { Time } from "./Time";
+
+/** A circle annotation on a 2D image */
+export type CircleAnnotation = {
+  /** Timestamp of circle */
+  timestamp: Time;
+
+  /** Center of the circle in 2D image coordinates */
+  position: Point2;
+
+  /** Circle diameter */
+  diameter: number;
+
+  /** Line thickness */
+  thickness: number;
+
+  /** Fill color */
+  fill_color: Color;
+
+  /** Outline color */
+  outline_color: Color;
+};

package/schemas/typescript/Color.ts

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+// Generated from Color by @foxglove/schemas
+
+/** A color in RGBA format */
+export type Color = {
+  /** Red value between 0 and 1 */
+  r: number;
+
+  /** Green value between 0 and 1 */
+  g: number;
+
+  /** Blue value between 0 and 1 */
+  b: number;
+
+  /** Alpha value between 0 and 1 */
+  a: number;
+};

package/schemas/typescript/CompressedImage.ts

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+// Generated from CompressedImage by @foxglove/schemas
+
+import { Time } from "./Time";
+
+/** A compressed image */
+export type CompressedImage = {
+  /** Timestamp of image */
+  timestamp: Time;
+
+  /** Compressed image data */
+  data: Uint8Array;
+
+  /** Image format */
+  format: string;
+};

package/schemas/typescript/Duration.ts

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+export type Duration = {
+  sec: number;
+  nsec: number;
+};

package/schemas/typescript/FrameTransform.ts

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+// Generated from FrameTransform by @foxglove/schemas
+
+import { Time } from "./Time";
+import { Transform } from "./Transform";
+
+/** A transform between two reference frames in 3D space */
+export type FrameTransform = {
+  /** Timestamp of transform */
+  timestamp: Time;
+
+  /** Name of the parent frame */
+  parent_frame_id: string;
+
+  /** Name of the child frame */
+  child_frame_id: string;
+
+  /** Transform from parent frame to child frame */
+  transform: Transform;
+};

package/schemas/typescript/GeoJSON.ts

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+// Generated from GeoJSON by @foxglove/schemas
+
+/** GeoJSON data for annotating maps */
+export type GeoJSON = {
+  /** GeoJSON data encoded as a UTF-8 string */
+  geojson: string;
+};

package/schemas/typescript/Grid.ts

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+// Generated from Grid by @foxglove/schemas
+
+import { PackedElementField } from "./PackedElementField";
+import { Pose } from "./Pose";
+import { Time } from "./Time";
+import { Vector2 } from "./Vector2";
+
+/** A 2D grid of data */
+export type Grid = {
+  /** Timestamp of grid */
+  timestamp: Time;
+
+  /** Frame of reference */
+  frame_id: string;
+
+  /** Origin of grid's corner relative to frame of reference; grid is positioned in the x-y plane relative to this origin */
+  pose: Pose;
+
+  /** Number of grid columns */
+  column_count: number;
+
+  /** Size of single grid cell along x and y axes, relative to `pose` */
+  cell_size: Vector2;
+
+  /** Number of bytes between rows in `data` */
+  row_stride: number;
+
+  /** Number of bytes between cells within a row in `data` */
+  cell_stride: number;
+
+  /** Fields in `data` */
+  fields: PackedElementField[];
+
+  /** Grid cell data, interpreted using `fields`, in row-major (y-major) order */
+  data: Uint8Array;
+};

package/schemas/typescript/ImageAnnotations.ts

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+// Generated from ImageAnnotations by @foxglove/schemas
+
+import { CircleAnnotation } from "./CircleAnnotation";
+import { PointsAnnotation } from "./PointsAnnotation";
+
+/** Array of annotations for a 2D image */
+export type ImageAnnotations = {
+  /** Circle annotations */
+  circles: CircleAnnotation[];
+
+  /** Points annotations */
+  points: PointsAnnotation[];
+};

package/schemas/typescript/LaserScan.ts

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+// Generated from LaserScan by @foxglove/schemas
+
+import { Pose } from "./Pose";
+import { Time } from "./Time";
+
+/** A single scan from a planar laser range-finder */
+export type LaserScan = {
+  /** Timestamp of scan */
+  timestamp: Time;
+
+  /** Frame of reference */
+  frame_id: string;
+
+  /** 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 */
+  pose: Pose;
+
+  /** Bearing of first point, in radians */
+  start_angle: number;
+
+  /** Bearing of last point, in radians */
+  end_angle: number;
+
+  /** Distance of detections from origin; assumed to be at equally-spaced angles between `start_angle` and `end_angle` */
+  ranges: number[];
+
+  /** Intensity of detections */
+  intensities: number[];
+};

package/schemas/typescript/LocationFix.ts

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+// Generated from LocationFix by @foxglove/schemas
+
+import { PositionCovarianceType } from "./PositionCovarianceType";
+
+/** A navigation satellite fix for any Global Navigation Satellite System */
+export type LocationFix = {
+  /** Latitude in degrees */
+  latitude: number;
+
+  /** Longitude in degrees */
+  longitude: number;
+
+  /** Altitude in meters */
+  altitude: number;
+
+  /** 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. */
+  position_covariance: [number, number, number, number, number, number, number, number, number];
+
+  /** If `position_covariance` is available, `position_covariance_type` must be set to indicate the type of covariance. */
+  position_covariance_type: PositionCovarianceType;
+};

package/schemas/typescript/Log.ts

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+// Generated from Log by @foxglove/schemas
+
+import { LogLevel } from "./LogLevel";
+import { Time } from "./Time";
+
+/** A log message */
+export type Log = {
+  /** Timestamp of log message */
+  timestamp: Time;
+
+  /** Log level */
+  level: LogLevel;
+
+  /** Log message */
+  message: string;
+
+  /** Process or node name */
+  name: string;
+
+  /** Filename */
+  file: string;
+
+  /** Line number in the file */
+  line: number;
+};

package/schemas/typescript/LogLevel.ts

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+// Generated from LogLevel by @foxglove/schemas
+
+/** Log level */
+export enum LogLevel {
+  UNKNOWN = 0,
+
+  DEBUG = 1,
+
+  INFO = 2,
+
+  WARNING = 3,
+
+  ERROR = 4,
+
+  FATAL = 5,
+}

package/schemas/typescript/NumericType.ts

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+// Generated from NumericType by @foxglove/schemas
+
+/** Numeric type */
+export enum NumericType {
+  UNKNOWN = 0,
+
+  UINT8 = 1,
+
+  INT8 = 2,
+
+  UINT16 = 3,
+
+  INT16 = 4,
+
+  UINT32 = 5,
+
+  INT32 = 6,
+
+  FLOAT32 = 7,
+
+  FLOAT64 = 8,
+}

package/schemas/typescript/PackedElementField.ts

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+// Generated from PackedElementField by @foxglove/schemas
+
+import { NumericType } from "./NumericType";
+
+/** List of fields for every element in a byte array */
+export type PackedElementField = {
+  /** Name of the field */
+  name: string;
+
+  /** Byte offset from start of data buffer */
+  offset: number;
+
+  /** Type of data in the field. Integers are stored using little-endian byte order. */
+  type: NumericType;
+};

package/schemas/typescript/Point2.ts

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+// Generated from Point2 by @foxglove/schemas
+
+/** A point representing a position in 2D space */
+export type Point2 = {
+  /** x coordinate position */
+  x: number;
+
+  /** y coordinate position */
+  y: number;
+};

package/schemas/typescript/Point3.ts

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+// Generated from Point3 by @foxglove/schemas
+
+/** A point representing a position in 3D space */
+export type Point3 = {
+  /** x coordinate position */
+  x: number;
+
+  /** y coordinate position */
+  y: number;
+
+  /** z coordinate position */
+  z: number;
+};

package/schemas/typescript/PointCloud.ts

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+// Generated from PointCloud by @foxglove/schemas
+
+import { PackedElementField } from "./PackedElementField";
+import { Pose } from "./Pose";
+import { Time } from "./Time";
+
+/** A collection of N-dimensional points, which may contain additional fields with information like normals, intensity, etc. */
+export type PointCloud = {
+  /** Timestamp of point cloud */
+  timestamp: Time;
+
+  /** Frame of reference */
+  frame_id: string;
+
+  /** The origin of the point cloud relative to the frame of reference */
+  pose: Pose;
+
+  /** Number of bytes between points in the `data` */
+  point_stride: number;
+
+  /** Fields in the `data` */
+  fields: PackedElementField[];
+
+  /** Point data, interpreted using `fields` */
+  data: Uint8Array;
+};

package/schemas/typescript/PointsAnnotation.ts

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+// Generated from PointsAnnotation by @foxglove/schemas
+
+import { Color } from "./Color";
+import { Point2 } from "./Point2";
+import { PointsAnnotationType } from "./PointsAnnotationType";
+import { Time } from "./Time";
+
+/** An array of points on a 2D image */
+export type PointsAnnotation = {
+  /** Timestamp of annotation */
+  timestamp: Time;
+
+  /** Type of points annotation to draw */
+  type: PointsAnnotationType;
+
+  /** Points in 2D image coordinates */
+  points: Point2[];
+
+  /** Outline colors */
+  outline_colors: Color[];
+
+  /** Fill color */
+  fill_color: Color;
+};

package/schemas/typescript/PointsAnnotationType.ts

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+// Generated from PointsAnnotationType by @foxglove/schemas
+
+/** Type of points annotation */
+export enum PointsAnnotationType {
+  UNKNOWN = 0,
+
+  POINTS = 1,
+
+  LINE_LOOP = 2,
+
+  LINE_STRIP = 3,
+
+  LINE_LIST = 4,
+}

package/schemas/typescript/Pose.ts

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+// Generated from Pose by @foxglove/schemas
+
+import { Quaternion } from "./Quaternion";
+import { Vector3 } from "./Vector3";
+
+/** A position and orientation for an object or reference frame in 3D space */
+export type Pose = {
+  /** Point denoting position in 3D space */
+  position: Vector3;
+
+  /** Quaternion denoting orientation in 3D space */
+  orientation: Quaternion;
+};

package/schemas/typescript/PoseInFrame.ts

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+// Generated from PoseInFrame by @foxglove/schemas
+
+import { Pose } from "./Pose";
+import { Time } from "./Time";
+
+/** A timestamped pose for an object or reference frame in 3D space */
+export type PoseInFrame = {
+  /** Timestamp of pose */
+  timestamp: Time;
+
+  /** Frame of reference for pose position and orientation */
+  frame_id: string;
+
+  /** Pose in 3D space */
+  pose: Pose;
+};

package/schemas/typescript/PosesInFrame.ts

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+// Generated from PosesInFrame by @foxglove/schemas
+
+import { Pose } from "./Pose";
+import { Time } from "./Time";
+
+/** An array of timestamped poses for an object or reference frame in 3D space */
+export type PosesInFrame = {
+  /** Timestamp of pose */
+  timestamp: Time;
+
+  /** Frame of reference for pose position and orientation */
+  frame_id: string;
+
+  /** Poses in 3D space */
+  poses: Pose[];
+};

package/schemas/typescript/PositionCovarianceType.ts

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+// Generated from PositionCovarianceType by @foxglove/schemas
+
+/** Type of position covariance */
+export enum PositionCovarianceType {
+  UNKNOWN = 0,
+
+  APPROXIMATED = 1,
+
+  DIAGONAL_KNOWN = 2,
+
+  KNOWN = 3,
+}

package/schemas/typescript/Quaternion.ts

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+// Generated from Quaternion by @foxglove/schemas
+
+/** A [quaternion](https://eater.net/quaternions) representing a rotation in 3D space */
+export type Quaternion = {
+  /** x value */
+  x: number;
+
+  /** y value */
+  y: number;
+
+  /** z value */
+  z: number;
+
+  /** w value */
+  w: number;
+};

package/schemas/typescript/RawImage.ts

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+// Generated from RawImage by @foxglove/schemas
+
+import { Time } from "./Time";
+
+/** A raw image */
+export type RawImage = {
+  /** Timestamp of image */
+  timestamp: Time;
+
+  /** Image width */
+  width: number;
+
+  /** Image height */
+  height: number;
+
+  /** Encoding of the raw image data */
+  encoding: string;
+
+  /** Byte length of a single row */
+  step: number;
+
+  /** Raw image data */
+  data: Uint8Array;
+};

package/schemas/typescript/Time.ts

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+export type Time = {
+  sec: number;
+  nsec: number;
+};

package/schemas/typescript/Transform.ts

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+// Generated from Transform by @foxglove/schemas
+
+import { Quaternion } from "./Quaternion";
+import { Time } from "./Time";
+import { Vector3 } from "./Vector3";
+
+/** A transform in 3D space */
+export type Transform = {
+  /** Transform time */
+  timestamp: Time;
+
+  /** Translation component of the transform */
+  translation: Vector3;
+
+  /** Rotation component of the transform */
+  rotation: Quaternion;
+};