@foxglove/schemas 0.7.1 → 0.7.3

package/python/Pipfile.lock

@@ -0,0 +1,329 @@
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+}

package/python/foxglove-schemas-protobuf/README.md

@@ -0,0 +1,23 @@
+# Foxglove Schemas (Protobuf)
+
+This package provides [Protobuf](https://developers.google.com/protocol-buffers/) classes for [Foxglove Schemas](https://foxglove.dev/docs/studio/messages/introduction).
+
+## Installation
+
+Install via [Pipenv](https://pipenv.pypa.io/en/latest/) by adding `foxglove-schemas-protobuf` to your `Pipfile` or via the command line:
+
+```bash
+pipenv install foxglove-schemas-protobuf
+```
+
+## Usage
+
+Import types from the `foxglove` module as follows:
+
+```py
+from foxglove_schemas_protobuf.CompressedImage_pb2 import CompressedImage
+```
+
+## Stay in touch
+
+Join our [Slack channel](https://foxglove.dev/join-slack) to ask questions, share feedback, and stay up to date on what our team is working on.

package/python/foxglove-schemas-protobuf/pyproject.toml

@@ -0,0 +1,11 @@
+[build-system]
+requires = [
+    "setuptools>=42",
+    "wheel"
+]
+build-backend = "setuptools.build_meta"
+
+[tool.pytest.ini_options]
+addopts = "-vv --color=yes"
+log_cli = true
+xfail_strict = true

package/python/foxglove-schemas-protobuf/setup.cfg

@@ -0,0 +1,21 @@
+[metadata]
+name = foxglove-schemas-protobuf
+version = 0.0.3
+description = Protobuf classes for Foxglove Schemas
+long_description = file: README.md
+long_description_content_type = text/markdown
+url = https://github.com/foxglove/schemas
+classifiers =
+    Programming Language :: Python :: 3
+    License :: OSI Approved :: MIT License
+    Operating System :: OS Independent
+
+[options]
+install_requires = 
+    protobuf
+install_package_data = True
+packages = find:
+python_requires = >=3.7
+
+[options.package_data]
+foxglove_schemas_protobuf = py.typed, *.pyi

package/python/foxglove-schemas-protobuf/tests/test_schemas.py

@@ -0,0 +1,5 @@
+def test_schemas():
+    from foxglove_schemas_protobuf.RawImage_pb2 import RawImage
+
+    img = RawImage()
+    img.encoding = "png"

package/schemas/README.md

@@ -296,6 +296,8 @@ string
 
 Name of distortion model
 
+Supported values: `plumb_bob` and `rational_polynomial`
+
 </td>
 </tr>
 <tr>
@@ -344,7 +346,7 @@ float64[9]
 </td>
 <td>
 
-Rectification matrix (3x3 row-major matrix)
+Rectification matrix (stereo cameras only, 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.
 
@@ -604,6 +606,8 @@ string
 
 Image format
 
+Supported values: `webp`, `jpeg`, `png`
+
 </td>
 </tr>
 </table>
@@ -653,7 +657,7 @@ Size of the cube along each axis
 </td>
 <td>
 
-Color of the arrow
+Color of the cube
 
 </td>
 </tr>
@@ -2144,6 +2148,8 @@ string
 
 Encoding of the raw image data
 
+Supported values: `8UC1`, `8UC3`, `16UC1`, `32FC1`, `bayer_bggr8`, `bayer_gbrg8`, `bayer_grbg8`, `bayer_rggb8`, `bgr8`, `bgra8`, `mono8`, `mono16`, `rgb8`, `rgba8`, `yuv422`
+
 </td>
 </tr>
 <tr>

package/schemas/flatbuffer/ArrowPrimitive.fbs

@@ -0,0 +1,29 @@
+// Generated by https://github.com/foxglove/schemas
+
+include "Color.fbs";
+include "Pose.fbs";
+
+namespace foxglove;
+
+/// A primitive representing an arrow
+table ArrowPrimitive {
+  /// Position of the arrow's tail and orientation of the arrow. Identity orientation means the arrow points in the +x direction.
+  pose:foxglove.Pose;
+
+  /// Length of the arrow shaft
+  shaft_length:double;
+
+  /// Diameter of the arrow shaft
+  shaft_diameter:double;
+
+  /// Length of the arrow head
+  head_length:double;
+
+  /// Diameter of the arrow head
+  head_diameter:double;
+
+  /// Color of the arrow
+  color:foxglove.Color;
+}
+
+root_type ArrowPrimitive;

package/schemas/flatbuffer/ByteVector.fbs

@@ -0,0 +1,8 @@
+
+namespace foxglove;
+
+/// Used for nesting byte vectors
+table ByteVector {
+  data:[uint8];
+}
+root_type ByteVector;

package/schemas/flatbuffer/CameraCalibration.fbs

@@ -0,0 +1,78 @@
+// Generated by https://github.com/foxglove/schemas
+
+include "Time.fbs";
+
+namespace foxglove;
+
+/// Camera calibration parameters
+table CameraCalibration {
+  /// Timestamp of calibration data
+  timestamp:Time;
+
+  /// 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.
+  frame_id:string;
+
+  /// Image width
+  width:uint32;
+
+  /// Image height
+  height:uint32;
+
+  /// Name of distortion model
+  /// 
+  /// Supported values: `plumb_bob` and `rational_polynomial`
+  distortion_model:string;
+
+  /// Distortion parameters
+  d:[double];
+
+  /// 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]
+  /// ```
+  /// length 9
+  k:[double];
+
+  /// Rectification matrix (stereo cameras only, 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.
+  /// length 9
+  r:[double];
+
+  /// 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.
+  /// length 12
+  p:[double];
+}
+
+root_type CameraCalibration;

package/schemas/flatbuffer/CircleAnnotation.fbs

@@ -0,0 +1,30 @@
+// Generated by https://github.com/foxglove/schemas
+
+include "Color.fbs";
+include "Point2.fbs";
+include "Time.fbs";
+
+namespace foxglove;
+
+/// A circle annotation on a 2D image
+table CircleAnnotation {
+  /// Timestamp of circle
+  timestamp:Time;
+
+  /// Center of the circle in 2D image coordinates
+  position:foxglove.Point2;
+
+  /// Circle diameter
+  diameter:double;
+
+  /// Line thickness
+  thickness:double;
+
+  /// Fill color
+  fill_color:foxglove.Color;
+
+  /// Outline color
+  outline_color:foxglove.Color;
+}
+
+root_type CircleAnnotation;

package/schemas/flatbuffer/Color.fbs

@@ -0,0 +1,20 @@
+// Generated by https://github.com/foxglove/schemas
+
+namespace foxglove;
+
+/// A color in RGBA format
+table Color {
+  /// Red value between 0 and 1
+  r:double = 1.0;
+
+  /// Green value between 0 and 1
+  g:double = 1.0;
+
+  /// Blue value between 0 and 1
+  b:double = 1.0;
+
+  /// Alpha value between 0 and 1
+  a:double = 1.0;
+}
+
+root_type Color;

package/schemas/flatbuffer/CompressedImage.fbs

@@ -0,0 +1,24 @@
+// Generated by https://github.com/foxglove/schemas
+
+include "Time.fbs";
+
+namespace foxglove;
+
+/// A compressed image
+table CompressedImage {
+  /// Timestamp of image
+  timestamp:Time;
+
+  /// 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.
+  frame_id:string;
+
+  /// Compressed image data
+  data:[uint8];
+
+  /// Image format
+  /// 
+  /// Supported values: `webp`, `jpeg`, `png`
+  format:string;
+}
+
+root_type CompressedImage;

package/schemas/flatbuffer/CubePrimitive.fbs

@@ -0,0 +1,21 @@
+// Generated by https://github.com/foxglove/schemas
+
+include "Color.fbs";
+include "Pose.fbs";
+include "Vector3.fbs";
+
+namespace foxglove;
+
+/// A primitive representing a cube or rectangular prism
+table CubePrimitive {
+  /// Position of the center of the cube and orientation of the cube
+  pose:foxglove.Pose;
+
+  /// Size of the cube along each axis
+  size:foxglove.Vector3;
+
+  /// Color of the cube
+  color:foxglove.Color;
+}
+
+root_type CubePrimitive;