@foxglove/schemas 0.2.0 → 0.5.0

package/schemas/README.md

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+# Foxglove schemas
+
+See [Foxglove Schemas documentation](https://foxglove.dev/docs/studio/messages).
+
+All schemas are generated from [schemas.ts](/src/schemas.ts).
+
+## Contents
+
+- [enum LineType](#enum-linetype)
+- [enum LogLevel](#enum-loglevel)
+- [enum NumericType](#enum-numerictype)
+- [enum PointsAnnotationType](#enum-pointsannotationtype)
+- [enum PositionCovarianceType](#enum-positioncovariancetype)
+- [enum SceneEntityDeletionType](#enum-sceneentitydeletiontype)
+- [ArrowPrimitive](#arrowprimitive)
+- [CameraCalibration](#cameracalibration)
+- [CircleAnnotation](#circleannotation)
+- [Color](#color)
+- [CompressedImage](#compressedimage)
+- [CubePrimitive](#cubeprimitive)
+- [CylinderPrimitive](#cylinderprimitive)
+- [FrameTransform](#frametransform)
+- [GeoJSON](#geojson)
+- [Grid](#grid)
+- [ImageAnnotations](#imageannotations)
+- [KeyValuePair](#keyvaluepair)
+- [LaserScan](#laserscan)
+- [LinePrimitive](#lineprimitive)
+- [LocationFix](#locationfix)
+- [Log](#log)
+- [ModelPrimitive](#modelprimitive)
+- [PackedElementField](#packedelementfield)
+- [Point2](#point2)
+- [Point3](#point3)
+- [PointCloud](#pointcloud)
+- [PointsAnnotation](#pointsannotation)
+- [Pose](#pose)
+- [PoseInFrame](#poseinframe)
+- [PosesInFrame](#posesinframe)
+- [Quaternion](#quaternion)
+- [RawImage](#rawimage)
+- [SceneEntity](#sceneentity)
+- [SceneEntityDeletion](#sceneentitydeletion)
+- [SceneUpdate](#sceneupdate)
+- [SpherePrimitive](#sphereprimitive)
+- [TextPrimitive](#textprimitive)
+- [TriangleListPrimitive](#trianglelistprimitive)
+- [Vector2](#vector2)
+- [Vector3](#vector3)
+
+----
+
+## enum LineType
+
+(Experimental, subject to change) An enumeration indicating how input points should be interpreted to create lines
+
+name | value | description
+---- | ----- | -----------
+`LINE_STRIP` | 0 | 0-1, 1-2, ..., (n-1)-n
+`LINE_LOOP` | 1 | 0-1, 1-2, ..., (n-1)-n, n-0
+`LINE_LIST` | 2 | 0-1, 2-3, 4-5, ...
+
+
+
+## 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 | 
+
+
+
+## enum SceneEntityDeletionType
+
+(Experimental, subject to change) An enumeration indicating which entities should match a SceneEntityDeletion command
+
+name | value | description
+---- | ----- | -----------
+`MATCHING_ID` | 0 | Delete the existing entity on the same topic that has the provided `id`
+`ALL` | 1 | Delete all existing entities on the same topic
+
+
+
+## ArrowPrimitive
+
+(Experimental, subject to change) A primitive representing an arrow
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>pose</code></td>
+<td>
+
+[Pose](#pose)
+
+</td>
+<td>
+
+Position of the arrow's tail and orientation of the arrow. Identity orientation means the arrow points in the +x direction.
+
+</td>
+</tr>
+<tr>
+<td><code>shaft_length</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+Length of the arrow shaft
+
+</td>
+</tr>
+<tr>
+<td><code>shaft_diameter</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+Diameter of the arrow shaft
+
+</td>
+</tr>
+<tr>
+<td><code>head_length</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+Length of the arrow head
+
+</td>
+</tr>
+<tr>
+<td><code>head_diameter</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+Diameter of the arrow head
+
+</td>
+</tr>
+<tr>
+<td><code>color</code></td>
+<td>
+
+[Color](#color)
+
+</td>
+<td>
+
+Color of the arrow
+
+</td>
+</tr>
+</table>
+
+## 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>
+
+## CubePrimitive
+
+(Experimental, subject to change) A primitive representing a cube or rectangular prism
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>pose</code></td>
+<td>
+
+[Pose](#pose)
+
+</td>
+<td>
+
+Position of the center of the cube and orientation of the cube
+
+</td>
+</tr>
+<tr>
+<td><code>size</code></td>
+<td>
+
+[Vector3](#vector3)
+
+</td>
+<td>
+
+Size of the cube along each axis
+
+</td>
+</tr>
+<tr>
+<td><code>color</code></td>
+<td>
+
+[Color](#color)
+
+</td>
+<td>
+
+Color of the arrow
+
+</td>
+</tr>
+</table>
+
+## CylinderPrimitive
+
+(Experimental, subject to change) A primitive representing a cylinder, elliptic cylinder, or truncated cone
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>pose</code></td>
+<td>
+
+[Pose](#pose)
+
+</td>
+<td>
+
+Position of the center of the cylinder and orientation of the cylinder. The flat face(s) are perpendicular to the z-axis.
+
+</td>
+</tr>
+<tr>
+<td><code>size</code></td>
+<td>
+
+[Vector3](#vector3)
+
+</td>
+<td>
+
+Size of the cylinder's bounding box
+
+</td>
+</tr>
+<tr>
+<td><code>bottom_scale</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+0-1, ratio of the diameter of the cylinder's bottom face (min z) to the bottom of the bounding box
+
+</td>
+</tr>
+<tr>
+<td><code>top_scale</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+0-1, ratio of the diameter of the cylinder's top face (max z) to the top of the bounding box
+
+</td>
+</tr>
+<tr>
+<td><code>color</code></td>
+<td>
+
+[Color](#color)
+
+</td>
+<td>
+
+Color of the cylinder
+
+</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>
+
+## KeyValuePair
+
+(Experimental, subject to change) A key with its associated value
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>key</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Key
+
+</td>
+</tr>
+<tr>
+<td><code>value</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Value
+
+</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>
+
+## LinePrimitive
+
+(Experimental, subject to change) A primitive representing a series of points connected by lines
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>type</code></td>
+<td>
+
+[enum LineType](#enum-linetype)
+
+</td>
+<td>
+
+Drawing primitive to use for lines
+
+</td>
+</tr>
+<tr>
+<td><code>pose</code></td>
+<td>
+
+[Pose](#pose)
+
+</td>
+<td>
+
+Origin of lines relative to reference frame
+
+</td>
+</tr>
+<tr>
+<td><code>thickness</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+Line thickness
+
+</td>
+</tr>
+<tr>
+<td><code>scale_invariant</code></td>
+<td>
+
+boolean
+
+</td>
+<td>
+
+Indicates whether `thickness` is a fixed size in screen pixels (true), or specified in world coordinates and scales with distance from the camera (false)
+
+</td>
+</tr>
+<tr>
+<td><code>points</code></td>
+<td>
+
+[Point3](#point3)[]
+
+</td>
+<td>
+
+Points along the line
+
+</td>
+</tr>
+<tr>
+<td><code>color</code></td>
+<td>
+
+[Color](#color)
+
+</td>
+<td>
+
+Solid color to use for the whole line. One of `color` or `colors` must be provided.
+
+</td>
+</tr>
+<tr>
+<td><code>colors</code></td>
+<td>
+
+[Color](#color)[]
+
+</td>
+<td>
+
+Per-point colors (if specified, must have the same length as `points`). One of `color` or `colors` must be provided.
+
+</td>
+</tr>
+<tr>
+<td><code>indices</code></td>
+<td>
+
+uint32[]
+
+</td>
+<td>
+
+Indices into the `points` and `colors` attribute arrays, which can be used to avoid duplicating attribute data.
+
+If omitted or empty, indexing will not be used. This default behavior is equivalent to specifying [0, 1, ..., N-1] for the indices (where N is the number of `points` provided).
+
+</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>
+
+## ModelPrimitive
+
+(Experimental, subject to change) A primitive representing a 3D model file loaded from an external URL or embedded data
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>pose</code></td>
+<td>
+
+[Pose](#pose)
+
+</td>
+<td>
+
+Origin of model relative to reference frame
+
+</td>
+</tr>
+<tr>
+<td><code>scale</code></td>
+<td>
+
+[Vector3](#vector3)
+
+</td>
+<td>
+
+Scale factor to apply to the model along each axis
+
+</td>
+</tr>
+<tr>
+<td><code>color</code></td>
+<td>
+
+[Color](#color)
+
+</td>
+<td>
+
+Solid color to use for the whole model if `override_color` is true.
+
+</td>
+</tr>
+<tr>
+<td><code>override_color</code></td>
+<td>
+
+boolean
+
+</td>
+<td>
+
+Whether to use the color specified in `color` instead of any materials embedded in the original model.
+
+</td>
+</tr>
+<tr>
+<td><code>url</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+URL pointing to model file. One of `url` or `data` should be provided.
+
+</td>
+</tr>
+<tr>
+<td><code>media_type</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+[Media type](https://developer.mozilla.org/en-US/docs/Web/HTTP/Basics_of_HTTP/MIME_types) of embedded model (e.g. `model/gltf-binary`). Required if `data` is provided instead of `url`. Overrides the inferred media type if `url` is provided.
+
+</td>
+</tr>
+<tr>
+<td><code>data</code></td>
+<td>
+
+bytes
+
+</td>
+<td>
+
+Embedded model. One of `url` or `data` should be provided. If `data` is provided, `media_type` must be set to indicate the type of the data.
+
+</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>
+
+## SceneEntity
+
+(Experimental, subject to change) A visual element in a 3D scene. An entity may be composed of multiple primitives which all share the same frame of reference.
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>timestamp</code></td>
+<td>
+
+time
+
+</td>
+<td>
+
+Timestamp of the entity
+
+</td>
+</tr>
+<tr>
+<td><code>frame_id</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Frame of reference
+
+</td>
+</tr>
+<tr>
+<td><code>id</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Identifier for the entity. A entity will replace any prior entity on the same topic with the same `id`.
+
+</td>
+</tr>
+<tr>
+<td><code>lifetime</code></td>
+<td>
+
+duration
+
+</td>
+<td>
+
+Length of time (relative to `timestamp`) after which the entity should be automatically removed. Zero value indicates the entity should remain visible until it is replaced or deleted.
+
+</td>
+</tr>
+<tr>
+<td><code>frame_locked</code></td>
+<td>
+
+boolean
+
+</td>
+<td>
+
+Whether the entity should keep its location in the fixed frame (false) or follow the frame specified in `frame_id` as it moves relative to the fixed frame (true)
+
+</td>
+</tr>
+<tr>
+<td><code>metadata</code></td>
+<td>
+
+[KeyValuePair](#keyvaluepair)[]
+
+</td>
+<td>
+
+Additional user-provided metadata associated with the entity. Keys must be unique.
+
+</td>
+</tr>
+<tr>
+<td><code>arrows</code></td>
+<td>
+
+[ArrowPrimitive](#arrowprimitive)[]
+
+</td>
+<td>
+
+Arrow primitives
+
+</td>
+</tr>
+<tr>
+<td><code>cubes</code></td>
+<td>
+
+[CubePrimitive](#cubeprimitive)[]
+
+</td>
+<td>
+
+Cube primitives
+
+</td>
+</tr>
+<tr>
+<td><code>spheres</code></td>
+<td>
+
+[SpherePrimitive](#sphereprimitive)[]
+
+</td>
+<td>
+
+Sphere primitives
+
+</td>
+</tr>
+<tr>
+<td><code>cylinders</code></td>
+<td>
+
+[CylinderPrimitive](#cylinderprimitive)[]
+
+</td>
+<td>
+
+Cylinder primitives
+
+</td>
+</tr>
+<tr>
+<td><code>lines</code></td>
+<td>
+
+[LinePrimitive](#lineprimitive)[]
+
+</td>
+<td>
+
+Line primitives
+
+</td>
+</tr>
+<tr>
+<td><code>triangles</code></td>
+<td>
+
+[TriangleListPrimitive](#trianglelistprimitive)[]
+
+</td>
+<td>
+
+Triangle list primitives
+
+</td>
+</tr>
+<tr>
+<td><code>texts</code></td>
+<td>
+
+[TextPrimitive](#textprimitive)[]
+
+</td>
+<td>
+
+Text primitives
+
+</td>
+</tr>
+<tr>
+<td><code>models</code></td>
+<td>
+
+[ModelPrimitive](#modelprimitive)[]
+
+</td>
+<td>
+
+Model primitives
+
+</td>
+</tr>
+</table>
+
+## SceneEntityDeletion
+
+(Experimental, subject to change) Command to remove previously published entities
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>timestamp</code></td>
+<td>
+
+time
+
+</td>
+<td>
+
+Timestamp of the deletion. Only matching entities earlier than this timestamp will be deleted.
+
+</td>
+</tr>
+<tr>
+<td><code>type</code></td>
+<td>
+
+[enum SceneEntityDeletionType](#enum-sceneentitydeletiontype)
+
+</td>
+<td>
+
+Type of deletion action to perform
+
+</td>
+</tr>
+<tr>
+<td><code>id</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Identifier which must match if `type` is `MATCHING_ID`.
+
+</td>
+</tr>
+</table>
+
+## SceneUpdate
+
+(Experimental, subject to change) An update to the entities displayed in a 3D scene
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>deletions</code></td>
+<td>
+
+[SceneEntityDeletion](#sceneentitydeletion)[]
+
+</td>
+<td>
+
+Scene entities to delete
+
+</td>
+</tr>
+<tr>
+<td><code>entities</code></td>
+<td>
+
+[SceneEntity](#sceneentity)[]
+
+</td>
+<td>
+
+Scene entities to add or replace
+
+</td>
+</tr>
+</table>
+
+## SpherePrimitive
+
+(Experimental, subject to change) A primitive representing a sphere or ellipsoid
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>pose</code></td>
+<td>
+
+[Pose](#pose)
+
+</td>
+<td>
+
+Position of the center of the sphere and orientation of the sphere
+
+</td>
+</tr>
+<tr>
+<td><code>size</code></td>
+<td>
+
+[Vector3](#vector3)
+
+</td>
+<td>
+
+Size (diameter) of the sphere along each axis
+
+</td>
+</tr>
+<tr>
+<td><code>color</code></td>
+<td>
+
+[Color](#color)
+
+</td>
+<td>
+
+Color of the sphere
+
+</td>
+</tr>
+</table>
+
+## TextPrimitive
+
+(Experimental, subject to change) A primitive representing a text label
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>pose</code></td>
+<td>
+
+[Pose](#pose)
+
+</td>
+<td>
+
+Position of the center of the text box and orientation of the text. Identity orientation means the text is oriented in the xy-plane and flows from -x to +x.
+
+</td>
+</tr>
+<tr>
+<td><code>billboard</code></td>
+<td>
+
+boolean
+
+</td>
+<td>
+
+Whether the text should respect `pose.orientation` (false) or always face the camera (true)
+
+</td>
+</tr>
+<tr>
+<td><code>font_size</code></td>
+<td>
+
+float64
+
+</td>
+<td>
+
+Font size (height of one line of text)
+
+</td>
+</tr>
+<tr>
+<td><code>scale_invariant</code></td>
+<td>
+
+boolean
+
+</td>
+<td>
+
+Indicates whether `font_size` is a fixed size in screen pixels (true), or specified in world coordinates and scales with distance from the camera (false)
+
+</td>
+</tr>
+<tr>
+<td><code>color</code></td>
+<td>
+
+[Color](#color)
+
+</td>
+<td>
+
+Color of the text
+
+</td>
+</tr>
+<tr>
+<td><code>text</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Text
+
+</td>
+</tr>
+</table>
+
+## TriangleListPrimitive
+
+(Experimental, subject to change) A primitive representing a set of triangles or a surface tiled by triangles
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>pose</code></td>
+<td>
+
+[Pose](#pose)
+
+</td>
+<td>
+
+Origin of triangles relative to reference frame
+
+</td>
+</tr>
+<tr>
+<td><code>points</code></td>
+<td>
+
+[Point3](#point3)[]
+
+</td>
+<td>
+
+Vertices to use for triangles, interpreted as a list of triples (0-1-2, 3-4-5, ...)
+
+</td>
+</tr>
+<tr>
+<td><code>color</code></td>
+<td>
+
+[Color](#color)
+
+</td>
+<td>
+
+Solid color to use for the whole shape. One of `color` or `colors` must be provided.
+
+</td>
+</tr>
+<tr>
+<td><code>colors</code></td>
+<td>
+
+[Color](#color)[]
+
+</td>
+<td>
+
+Per-vertex colors (if specified, must have the same length as `points`). One of `color` or `colors` must be provided.
+
+</td>
+</tr>
+<tr>
+<td><code>indices</code></td>
+<td>
+
+uint32[]
+
+</td>
+<td>
+
+Indices into the `points` and `colors` attribute arrays, which can be used to avoid duplicating attribute data.
+
+If omitted or empty, indexing will not be used. This default behavior is equivalent to specifying [0, 1, ..., N-1] for the indices (where N is the number of `points` provided).
+
+</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>