@foxglove/schemas 0.3.0 → 0.6.0

package/schemas/jsonschema/SpherePrimitive.json

@@ -0,0 +1,99 @@
+{
+  "title": "foxglove.SpherePrimitive",
+  "description": "(Experimental, subject to change) A primitive representing a sphere or ellipsoid",
+  "$comment": "Generated by https://github.com/foxglove/schemas",
+  "type": "object",
+  "properties": {
+    "pose": {
+      "title": "foxglove.Pose",
+      "description": "Position of the center of the sphere and orientation of the sphere",
+      "type": "object",
+      "properties": {
+        "position": {
+          "title": "foxglove.Vector3",
+          "description": "Point denoting position in 3D space",
+          "type": "object",
+          "properties": {
+            "x": {
+              "type": "number",
+              "description": "x coordinate length"
+            },
+            "y": {
+              "type": "number",
+              "description": "y coordinate length"
+            },
+            "z": {
+              "type": "number",
+              "description": "z coordinate length"
+            }
+          }
+        },
+        "orientation": {
+          "title": "foxglove.Quaternion",
+          "description": "Quaternion denoting orientation in 3D space",
+          "type": "object",
+          "properties": {
+            "x": {
+              "type": "number",
+              "description": "x value"
+            },
+            "y": {
+              "type": "number",
+              "description": "y value"
+            },
+            "z": {
+              "type": "number",
+              "description": "z value"
+            },
+            "w": {
+              "type": "number",
+              "description": "w value"
+            }
+          }
+        }
+      }
+    },
+    "size": {
+      "title": "foxglove.Vector3",
+      "description": "Size (diameter) of the sphere along each axis",
+      "type": "object",
+      "properties": {
+        "x": {
+          "type": "number",
+          "description": "x coordinate length"
+        },
+        "y": {
+          "type": "number",
+          "description": "y coordinate length"
+        },
+        "z": {
+          "type": "number",
+          "description": "z coordinate length"
+        }
+      }
+    },
+    "color": {
+      "title": "foxglove.Color",
+      "description": "Color of the sphere",
+      "type": "object",
+      "properties": {
+        "r": {
+          "type": "number",
+          "description": "Red value between 0 and 1"
+        },
+        "g": {
+          "type": "number",
+          "description": "Green value between 0 and 1"
+        },
+        "b": {
+          "type": "number",
+          "description": "Blue value between 0 and 1"
+        },
+        "a": {
+          "type": "number",
+          "description": "Alpha value between 0 and 1"
+        }
+      }
+    }
+  }
+}

package/schemas/jsonschema/TextPrimitive.json

@@ -0,0 +1,96 @@
+{
+  "title": "foxglove.TextPrimitive",
+  "description": "(Experimental, subject to change) A primitive representing a text label",
+  "$comment": "Generated by https://github.com/foxglove/schemas",
+  "type": "object",
+  "properties": {
+    "pose": {
+      "title": "foxglove.Pose",
+      "description": "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.",
+      "type": "object",
+      "properties": {
+        "position": {
+          "title": "foxglove.Vector3",
+          "description": "Point denoting position in 3D space",
+          "type": "object",
+          "properties": {
+            "x": {
+              "type": "number",
+              "description": "x coordinate length"
+            },
+            "y": {
+              "type": "number",
+              "description": "y coordinate length"
+            },
+            "z": {
+              "type": "number",
+              "description": "z coordinate length"
+            }
+          }
+        },
+        "orientation": {
+          "title": "foxglove.Quaternion",
+          "description": "Quaternion denoting orientation in 3D space",
+          "type": "object",
+          "properties": {
+            "x": {
+              "type": "number",
+              "description": "x value"
+            },
+            "y": {
+              "type": "number",
+              "description": "y value"
+            },
+            "z": {
+              "type": "number",
+              "description": "z value"
+            },
+            "w": {
+              "type": "number",
+              "description": "w value"
+            }
+          }
+        }
+      }
+    },
+    "billboard": {
+      "type": "boolean",
+      "description": "Whether the text should respect `pose.orientation` (false) or always face the camera (true)"
+    },
+    "font_size": {
+      "type": "number",
+      "description": "Font size (height of one line of text)"
+    },
+    "scale_invariant": {
+      "type": "boolean",
+      "description": "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)"
+    },
+    "color": {
+      "title": "foxglove.Color",
+      "description": "Color of the text",
+      "type": "object",
+      "properties": {
+        "r": {
+          "type": "number",
+          "description": "Red value between 0 and 1"
+        },
+        "g": {
+          "type": "number",
+          "description": "Green value between 0 and 1"
+        },
+        "b": {
+          "type": "number",
+          "description": "Blue value between 0 and 1"
+        },
+        "a": {
+          "type": "number",
+          "description": "Alpha value between 0 and 1"
+        }
+      }
+    },
+    "text": {
+      "type": "string",
+      "description": "Text"
+    }
+  }
+}

package/schemas/jsonschema/TriangleListPrimitive.json

@@ -0,0 +1,138 @@
+{
+  "title": "foxglove.TriangleListPrimitive",
+  "description": "(Experimental, subject to change) A primitive representing a set of triangles or a surface tiled by triangles",
+  "$comment": "Generated by https://github.com/foxglove/schemas",
+  "type": "object",
+  "properties": {
+    "pose": {
+      "title": "foxglove.Pose",
+      "description": "Origin of triangles relative to reference frame",
+      "type": "object",
+      "properties": {
+        "position": {
+          "title": "foxglove.Vector3",
+          "description": "Point denoting position in 3D space",
+          "type": "object",
+          "properties": {
+            "x": {
+              "type": "number",
+              "description": "x coordinate length"
+            },
+            "y": {
+              "type": "number",
+              "description": "y coordinate length"
+            },
+            "z": {
+              "type": "number",
+              "description": "z coordinate length"
+            }
+          }
+        },
+        "orientation": {
+          "title": "foxglove.Quaternion",
+          "description": "Quaternion denoting orientation in 3D space",
+          "type": "object",
+          "properties": {
+            "x": {
+              "type": "number",
+              "description": "x value"
+            },
+            "y": {
+              "type": "number",
+              "description": "y value"
+            },
+            "z": {
+              "type": "number",
+              "description": "z value"
+            },
+            "w": {
+              "type": "number",
+              "description": "w value"
+            }
+          }
+        }
+      }
+    },
+    "points": {
+      "type": "array",
+      "items": {
+        "title": "foxglove.Point3",
+        "description": "A point representing a position in 3D space",
+        "type": "object",
+        "properties": {
+          "x": {
+            "type": "number",
+            "description": "x coordinate position"
+          },
+          "y": {
+            "type": "number",
+            "description": "y coordinate position"
+          },
+          "z": {
+            "type": "number",
+            "description": "z coordinate position"
+          }
+        }
+      },
+      "description": "Vertices to use for triangles, interpreted as a list of triples (0-1-2, 3-4-5, ...)"
+    },
+    "color": {
+      "title": "foxglove.Color",
+      "description": "Solid color to use for the whole shape. One of `color` or `colors` must be provided.",
+      "type": "object",
+      "properties": {
+        "r": {
+          "type": "number",
+          "description": "Red value between 0 and 1"
+        },
+        "g": {
+          "type": "number",
+          "description": "Green value between 0 and 1"
+        },
+        "b": {
+          "type": "number",
+          "description": "Blue value between 0 and 1"
+        },
+        "a": {
+          "type": "number",
+          "description": "Alpha value between 0 and 1"
+        }
+      }
+    },
+    "colors": {
+      "type": "array",
+      "items": {
+        "title": "foxglove.Color",
+        "description": "A color in RGBA format",
+        "type": "object",
+        "properties": {
+          "r": {
+            "type": "number",
+            "description": "Red value between 0 and 1"
+          },
+          "g": {
+            "type": "number",
+            "description": "Green value between 0 and 1"
+          },
+          "b": {
+            "type": "number",
+            "description": "Blue value between 0 and 1"
+          },
+          "a": {
+            "type": "number",
+            "description": "Alpha value between 0 and 1"
+          }
+        }
+      },
+      "description": "Per-vertex colors (if specified, must have the same length as `points`). One of `color` or `colors` must be provided."
+    },
+    "indices": {
+      "type": "array",
+      "items": {
+        "type": "integer",
+        "minimum": 0
+      },
+      "description": "Indices into the `points` and `colors` attribute arrays, which can be used to avoid duplicating attribute data.\n\nIf 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)."
+    }
+  }
+}

package/schemas/proto/foxglove/ArrowPrimitive.proto

@@ -0,0 +1,29 @@
+// Generated by https://github.com/foxglove/schemas
+
+syntax = "proto3";
+
+import "foxglove/Color.proto";
+import "foxglove/Pose.proto";
+
+package foxglove;
+
+// (Experimental, subject to change) A primitive representing an arrow
+message ArrowPrimitive {
+  // Position of the arrow's tail and orientation of the arrow. Identity orientation means the arrow points in the +x direction.
+  foxglove.Pose pose = 1;
+
+  // Length of the arrow shaft
+  double shaft_length = 2;
+
+  // Diameter of the arrow shaft
+  double shaft_diameter = 3;
+
+  // Length of the arrow head
+  double head_length = 4;
+
+  // Diameter of the arrow head
+  double head_diameter = 5;
+
+  // Color of the arrow
+  foxglove.Color color = 6;
+}

package/schemas/proto/foxglove/CameraCalibration.proto

@@ -11,6 +11,9 @@ message CameraCalibration {
   // Timestamp of calibration data
   google.protobuf.Timestamp timestamp = 1;
 
+  // Frame of reference for the camera. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+  string frame_id = 9;
+
   // Image width
   fixed32 width = 2;
 

package/schemas/proto/foxglove/CompressedImage.proto

@@ -11,6 +11,9 @@ message CompressedImage {
   // Timestamp of image
   google.protobuf.Timestamp timestamp = 1;
 
+  // Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+  string frame_id = 4;
+
   // Compressed image data
   bytes data = 2;
 

package/schemas/proto/foxglove/CubePrimitive.proto

@@ -0,0 +1,21 @@
+// Generated by https://github.com/foxglove/schemas
+
+syntax = "proto3";
+
+import "foxglove/Color.proto";
+import "foxglove/Pose.proto";
+import "foxglove/Vector3.proto";
+
+package foxglove;
+
+// (Experimental, subject to change) A primitive representing a cube or rectangular prism
+message CubePrimitive {
+  // Position of the center of the cube and orientation of the cube
+  foxglove.Pose pose = 1;
+
+  // Size of the cube along each axis
+  foxglove.Vector3 size = 2;
+
+  // Color of the arrow
+  foxglove.Color color = 3;
+}

package/schemas/proto/foxglove/CylinderPrimitive.proto

@@ -0,0 +1,27 @@
+// Generated by https://github.com/foxglove/schemas
+
+syntax = "proto3";
+
+import "foxglove/Color.proto";
+import "foxglove/Pose.proto";
+import "foxglove/Vector3.proto";
+
+package foxglove;
+
+// (Experimental, subject to change) A primitive representing a cylinder, elliptic cylinder, or truncated cone
+message CylinderPrimitive {
+  // Position of the center of the cylinder and orientation of the cylinder. The flat face(s) are perpendicular to the z-axis.
+  foxglove.Pose pose = 1;
+
+  // Size of the cylinder's bounding box
+  foxglove.Vector3 size = 2;
+
+  // 0-1, ratio of the diameter of the cylinder's bottom face (min z) to the bottom of the bounding box
+  double bottom_scale = 3;
+
+  // 0-1, ratio of the diameter of the cylinder's top face (max z) to the top of the bounding box
+  double top_scale = 4;
+
+  // Color of the cylinder
+  foxglove.Color color = 5;
+}

package/schemas/proto/foxglove/KeyValuePair.proto

@@ -0,0 +1,14 @@
+// Generated by https://github.com/foxglove/schemas
+
+syntax = "proto3";
+
+package foxglove;
+
+// (Experimental, subject to change) A key with its associated value
+message KeyValuePair {
+  // Key
+  string key = 1;
+
+  // Value
+  string value = 2;
+}

package/schemas/proto/foxglove/LinePrimitive.proto

@@ -0,0 +1,49 @@
+// Generated by https://github.com/foxglove/schemas
+
+syntax = "proto3";
+
+import "foxglove/Color.proto";
+import "foxglove/Point3.proto";
+import "foxglove/Pose.proto";
+
+package foxglove;
+
+// (Experimental, subject to change) A primitive representing a series of points connected by lines
+message LinePrimitive {
+  // (Experimental, subject to change) An enumeration indicating how input points should be interpreted to create lines
+  enum Type {
+    // 0-1, 1-2, ..., (n-1)-n
+    LINE_STRIP = 0;
+
+    // 0-1, 1-2, ..., (n-1)-n, n-0
+    LINE_LOOP = 1;
+
+    // 0-1, 2-3, 4-5, ...
+    LINE_LIST = 2;
+  }
+  // Drawing primitive to use for lines
+  Type type = 1;
+
+  // Origin of lines relative to reference frame
+  foxglove.Pose pose = 2;
+
+  // Line thickness
+  double thickness = 3;
+
+  // Indicates whether `thickness` is a fixed size in screen pixels (true), or specified in world coordinates and scales with distance from the camera (false)
+  bool scale_invariant = 4;
+
+  // Points along the line
+  repeated foxglove.Point3 points = 5;
+
+  // Solid color to use for the whole line. One of `color` or `colors` must be provided.
+  foxglove.Color color = 6;
+
+  // Per-point colors (if specified, must have the same length as `points`). One of `color` or `colors` must be provided.
+  repeated foxglove.Color colors = 7;
+
+  // 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).
+  repeated fixed32 indices = 8;
+}

package/schemas/proto/foxglove/ModelPrimitive.proto

@@ -0,0 +1,33 @@
+// Generated by https://github.com/foxglove/schemas
+
+syntax = "proto3";
+
+import "foxglove/Color.proto";
+import "foxglove/Pose.proto";
+import "foxglove/Vector3.proto";
+
+package foxglove;
+
+// (Experimental, subject to change) A primitive representing a 3D model file loaded from an external URL or embedded data
+message ModelPrimitive {
+  // Origin of model relative to reference frame
+  foxglove.Pose pose = 1;
+
+  // Scale factor to apply to the model along each axis
+  foxglove.Vector3 scale = 2;
+
+  // Solid color to use for the whole model if `override_color` is true.
+  foxglove.Color color = 3;
+
+  // Whether to use the color specified in `color` instead of any materials embedded in the original model.
+  bool override_color = 4;
+
+  // URL pointing to model file. One of `url` or `data` should be provided.
+  string url = 5;
+
+  // [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.
+  string media_type = 6;
+
+  // 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.
+  bytes data = 7;
+}

package/schemas/proto/foxglove/PointsAnnotation.proto

@@ -31,9 +31,15 @@ message PointsAnnotation {
   // Points in 2D image coordinates
   repeated foxglove.Point2 points = 3;
 
-  // Outline colors
-  repeated foxglove.Color outline_colors = 4;
+  // Outline color
+  foxglove.Color outline_color = 4;
+
+  // Per-point colors, if `type` is `POINTS`, or per-segment stroke colors, if `type` is `LINE_LIST`.
+  repeated foxglove.Color outline_colors = 5;
 
   // Fill color
-  foxglove.Color fill_color = 5;
+  foxglove.Color fill_color = 6;
+
+  // Stroke thickness
+  double thickness = 7;
 }

package/schemas/proto/foxglove/RawImage.proto

@@ -11,6 +11,9 @@ message RawImage {
   // Timestamp of image
   google.protobuf.Timestamp timestamp = 1;
 
+  // Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+  string frame_id = 7;
+
   // Image width
   fixed32 width = 2;
 

package/schemas/proto/foxglove/SceneEntity.proto

@@ -0,0 +1,62 @@
+// Generated by https://github.com/foxglove/schemas
+
+syntax = "proto3";
+
+import "foxglove/ArrowPrimitive.proto";
+import "foxglove/CubePrimitive.proto";
+import "foxglove/CylinderPrimitive.proto";
+import "foxglove/KeyValuePair.proto";
+import "foxglove/LinePrimitive.proto";
+import "foxglove/ModelPrimitive.proto";
+import "foxglove/SpherePrimitive.proto";
+import "foxglove/TextPrimitive.proto";
+import "foxglove/TriangleListPrimitive.proto";
+import "google/protobuf/duration.proto";
+import "google/protobuf/timestamp.proto";
+
+package foxglove;
+
+// (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.
+message SceneEntity {
+  // Timestamp of the entity
+  google.protobuf.Timestamp timestamp = 1;
+
+  // Frame of reference
+  string frame_id = 2;
+
+  // Identifier for the entity. A entity will replace any prior entity on the same topic with the same `id`.
+  string id = 3;
+
+  // 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.
+  google.protobuf.Duration lifetime = 4;
+
+  // 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)
+  bool frame_locked = 5;
+
+  // Additional user-provided metadata associated with the entity. Keys must be unique.
+  repeated foxglove.KeyValuePair metadata = 6;
+
+  // Arrow primitives
+  repeated foxglove.ArrowPrimitive arrows = 7;
+
+  // Cube primitives
+  repeated foxglove.CubePrimitive cubes = 8;
+
+  // Sphere primitives
+  repeated foxglove.SpherePrimitive spheres = 9;
+
+  // Cylinder primitives
+  repeated foxglove.CylinderPrimitive cylinders = 10;
+
+  // Line primitives
+  repeated foxglove.LinePrimitive lines = 11;
+
+  // Triangle list primitives
+  repeated foxglove.TriangleListPrimitive triangles = 12;
+
+  // Text primitives
+  repeated foxglove.TextPrimitive texts = 13;
+
+  // Model primitives
+  repeated foxglove.ModelPrimitive models = 14;
+}

package/schemas/proto/foxglove/SceneEntityDeletion.proto

@@ -0,0 +1,27 @@
+// Generated by https://github.com/foxglove/schemas
+
+syntax = "proto3";
+
+import "google/protobuf/timestamp.proto";
+
+package foxglove;
+
+// (Experimental, subject to change) Command to remove previously published entities
+message SceneEntityDeletion {
+  // (Experimental, subject to change) An enumeration indicating which entities should match a SceneEntityDeletion command
+  enum Type {
+    // Delete the existing entity on the same topic that has the provided `id`
+    MATCHING_ID = 0;
+
+    // Delete all existing entities on the same topic
+    ALL = 1;
+  }
+  // Timestamp of the deletion. Only matching entities earlier than this timestamp will be deleted.
+  google.protobuf.Timestamp timestamp = 1;
+
+  // Type of deletion action to perform
+  Type type = 2;
+
+  // Identifier which must match if `type` is `MATCHING_ID`.
+  string id = 3;
+}

package/schemas/proto/foxglove/SceneUpdate.proto

@@ -0,0 +1,17 @@
+// Generated by https://github.com/foxglove/schemas
+
+syntax = "proto3";
+
+import "foxglove/SceneEntity.proto";
+import "foxglove/SceneEntityDeletion.proto";
+
+package foxglove;
+
+// (Experimental, subject to change) An update to the entities displayed in a 3D scene
+message SceneUpdate {
+  // Scene entities to delete
+  repeated foxglove.SceneEntityDeletion deletions = 1;
+
+  // Scene entities to add or replace
+  repeated foxglove.SceneEntity entities = 2;
+}