@foxglove/schemas 0.7.1 → 0.7.3

package/schemas/flatbuffer/CylinderPrimitive.fbs

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+// Generated by https://github.com/foxglove/schemas
+
+include "Color.fbs";
+include "Pose.fbs";
+include "Vector3.fbs";
+
+namespace foxglove;
+
+/// A primitive representing a cylinder, elliptic cylinder, or truncated cone
+table CylinderPrimitive {
+  /// Position of the center of the cylinder and orientation of the cylinder. The flat face(s) are perpendicular to the z-axis.
+  pose:foxglove.Pose;
+
+  /// Size of the cylinder's bounding box
+  size:foxglove.Vector3;
+
+  /// 0-1, ratio of the diameter of the cylinder's bottom face (min z) to the bottom of the bounding box
+  bottom_scale:double;
+
+  /// 0-1, ratio of the diameter of the cylinder's top face (max z) to the top of the bounding box
+  top_scale:double;
+
+  /// Color of the cylinder
+  color:foxglove.Color;
+}
+
+root_type CylinderPrimitive;

package/schemas/flatbuffer/Duration.fbs

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+
+namespace foxglove;
+
+struct Duration {
+  /// Signed seconds of the span of time. Must be from -315,576,000,000 to +315,576,000,000 inclusive.
+  sec:int32;
+  /// if sec === 0 : -999,999,999 <= nsec <= +999,999,999 
+  /// otherwise sign of sec must match sign of nsec or be 0 and abs(nsec) <= 999,999,999
+  nsec:int32;
+}

package/schemas/flatbuffer/FrameTransform.fbs

@@ -0,0 +1,27 @@
+// Generated by https://github.com/foxglove/schemas
+
+include "Quaternion.fbs";
+include "Time.fbs";
+include "Vector3.fbs";
+
+namespace foxglove;
+
+/// A transform between two reference frames in 3D space
+table FrameTransform {
+  /// Timestamp of transform
+  timestamp:Time;
+
+  /// Name of the parent frame
+  parent_frame_id:string;
+
+  /// Name of the child frame
+  child_frame_id:string;
+
+  /// Translation component of the transform
+  translation:foxglove.Vector3;
+
+  /// Rotation component of the transform
+  rotation:foxglove.Quaternion;
+}
+
+root_type FrameTransform;

package/schemas/flatbuffer/GeoJSON.fbs

@@ -0,0 +1,11 @@
+// Generated by https://github.com/foxglove/schemas
+
+namespace foxglove;
+
+/// GeoJSON data for annotating maps
+table GeoJSON {
+  /// GeoJSON data encoded as a UTF-8 string
+  geojson:string;
+}
+
+root_type GeoJSON;

package/schemas/flatbuffer/Grid.fbs

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+// Generated by https://github.com/foxglove/schemas
+
+include "PackedElementField.fbs";
+include "Pose.fbs";
+include "Time.fbs";
+include "Vector2.fbs";
+
+namespace foxglove;
+
+/// A 2D grid of data
+table 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:foxglove.Pose;
+
+  /// Number of grid columns
+  column_count:uint32;
+
+  /// Size of single grid cell along x and y axes, relative to `pose`
+  cell_size:foxglove.Vector2;
+
+  /// Number of bytes between rows in `data`
+  row_stride:uint32;
+
+  /// Number of bytes between cells within a row in `data`
+  cell_stride:uint32;
+
+  /// Fields in `data`
+  fields:[foxglove.PackedElementField];
+
+  /// Grid cell data, interpreted using `fields`, in row-major (y-major) order
+  data:[uint8];
+}
+
+root_type Grid;

package/schemas/flatbuffer/ImageAnnotations.fbs

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+// Generated by https://github.com/foxglove/schemas
+
+include "CircleAnnotation.fbs";
+include "PointsAnnotation.fbs";
+
+namespace foxglove;
+
+/// Array of annotations for a 2D image
+table ImageAnnotations {
+  /// Circle annotations
+  circles:[foxglove.CircleAnnotation];
+
+  /// Points annotations
+  points:[foxglove.PointsAnnotation];
+}
+
+root_type ImageAnnotations;

package/schemas/flatbuffer/KeyValuePair.fbs

@@ -0,0 +1,14 @@
+// Generated by https://github.com/foxglove/schemas
+
+namespace foxglove;
+
+/// A key with its associated value
+table KeyValuePair {
+  /// Key
+  key:string;
+
+  /// Value
+  value:string;
+}
+
+root_type KeyValuePair;

package/schemas/flatbuffer/LaserScan.fbs

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+// Generated by https://github.com/foxglove/schemas
+
+include "Pose.fbs";
+include "Time.fbs";
+
+namespace foxglove;
+
+/// A single scan from a planar laser range-finder
+table 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:foxglove.Pose;
+
+  /// Bearing of first point, in radians
+  start_angle:double;
+
+  /// Bearing of last point, in radians
+  end_angle:double;
+
+  /// Distance of detections from origin; assumed to be at equally-spaced angles between `start_angle` and `end_angle`
+  ranges:[double];
+
+  /// Intensity of detections
+  intensities:[double];
+}
+
+root_type LaserScan;

package/schemas/flatbuffer/LinePrimitive.fbs

@@ -0,0 +1,49 @@
+// Generated by https://github.com/foxglove/schemas
+
+include "Color.fbs";
+include "Point3.fbs";
+include "Pose.fbs";
+
+namespace foxglove;
+
+/// An enumeration indicating how input points should be interpreted to create lines
+enum LineType : ubyte {
+  /// 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,
+}
+/// A primitive representing a series of points connected by lines
+table LinePrimitive {
+  /// Drawing primitive to use for lines
+  type:LineType;
+
+  /// Origin of lines relative to reference frame
+  pose:foxglove.Pose;
+
+  /// Line thickness
+  thickness:double;
+
+  /// Indicates whether `thickness` is a fixed size in screen pixels (true), or specified in world coordinates and scales with distance from the camera (false)
+  scale_invariant:bool;
+
+  /// Points along the line
+  points:[foxglove.Point3];
+
+  /// Solid color to use for the whole line. One of `color` or `colors` must be provided.
+  color:foxglove.Color;
+
+  /// Per-point colors (if specified, must have the same length as `points`). One of `color` or `colors` must be provided.
+  colors:[foxglove.Color];
+
+  /// 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).
+  indices:[uint32];
+}
+
+root_type LinePrimitive;

package/schemas/flatbuffer/LocationFix.fbs

@@ -0,0 +1,34 @@
+// Generated by https://github.com/foxglove/schemas
+
+namespace foxglove;
+
+/// Type of position covariance
+enum PositionCovarianceType : ubyte {
+  UNKNOWN = 0,
+
+  APPROXIMATED = 1,
+
+  DIAGONAL_KNOWN = 2,
+
+  KNOWN = 3,
+}
+/// A navigation satellite fix for any Global Navigation Satellite System
+table LocationFix {
+  /// Latitude in degrees
+  latitude:double;
+
+  /// Longitude in degrees
+  longitude:double;
+
+  /// Altitude in meters
+  altitude:double;
+
+  /// 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.
+  /// length 9
+  position_covariance:[double];
+
+  /// If `position_covariance` is available, `position_covariance_type` must be set to indicate the type of covariance.
+  position_covariance_type:PositionCovarianceType;
+}
+
+root_type LocationFix;

package/schemas/flatbuffer/Log.fbs

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+// Generated by https://github.com/foxglove/schemas
+
+include "Time.fbs";
+
+namespace foxglove;
+
+/// Log level
+enum LogLevel : ubyte {
+  UNKNOWN = 0,
+
+  DEBUG = 1,
+
+  INFO = 2,
+
+  WARNING = 3,
+
+  ERROR = 4,
+
+  FATAL = 5,
+}
+/// A log message
+table 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:uint32;
+}
+
+root_type Log;

package/schemas/flatbuffer/ModelPrimitive.fbs

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+// Generated by https://github.com/foxglove/schemas
+
+include "Color.fbs";
+include "Pose.fbs";
+include "Vector3.fbs";
+
+namespace foxglove;
+
+/// A primitive representing a 3D model file loaded from an external URL or embedded data
+table ModelPrimitive {
+  /// Origin of model relative to reference frame
+  pose:foxglove.Pose;
+
+  /// Scale factor to apply to the model along each axis
+  scale:foxglove.Vector3;
+
+  /// Solid color to use for the whole model if `override_color` is true.
+  color:foxglove.Color;
+
+  /// Whether to use the color specified in `color` instead of any materials embedded in the original model.
+  override_color:bool;
+
+  /// URL pointing to model file. One of `url` or `data` should be provided.
+  url:string;
+
+  /// [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.
+  media_type:string;
+
+  /// 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.
+  data:[uint8];
+}
+
+root_type ModelPrimitive;

package/schemas/flatbuffer/PackedElementField.fbs

@@ -0,0 +1,37 @@
+// Generated by https://github.com/foxglove/schemas
+
+namespace foxglove;
+
+/// Numeric type
+enum NumericType : ubyte {
+  UNKNOWN = 0,
+
+  UINT8 = 1,
+
+  INT8 = 2,
+
+  UINT16 = 3,
+
+  INT16 = 4,
+
+  UINT32 = 5,
+
+  INT32 = 6,
+
+  FLOAT32 = 7,
+
+  FLOAT64 = 8,
+}
+/// A field present within each element in a byte array of packed elements.
+table PackedElementField {
+  /// Name of the field
+  name:string;
+
+  /// Byte offset from start of data buffer
+  offset:uint32;
+
+  /// Type of data in the field. Integers are stored using little-endian byte order.
+  type:NumericType;
+}
+
+root_type PackedElementField;

package/schemas/flatbuffer/Point2.fbs

@@ -0,0 +1,14 @@
+// Generated by https://github.com/foxglove/schemas
+
+namespace foxglove;
+
+/// A point representing a position in 2D space
+table Point2 {
+  /// x coordinate position
+  x:double;
+
+  /// y coordinate position
+  y:double;
+}
+
+root_type Point2;

package/schemas/flatbuffer/Point3.fbs

@@ -0,0 +1,17 @@
+// Generated by https://github.com/foxglove/schemas
+
+namespace foxglove;
+
+/// A point representing a position in 3D space
+table Point3 {
+  /// x coordinate position
+  x:double;
+
+  /// y coordinate position
+  y:double;
+
+  /// z coordinate position
+  z:double;
+}
+
+root_type Point3;

package/schemas/flatbuffer/PointCloud.fbs

@@ -0,0 +1,30 @@
+// Generated by https://github.com/foxglove/schemas
+
+include "PackedElementField.fbs";
+include "Pose.fbs";
+include "Time.fbs";
+
+namespace foxglove;
+
+/// A collection of N-dimensional points, which may contain additional fields with information like normals, intensity, etc.
+table 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:foxglove.Pose;
+
+  /// Number of bytes between points in the `data`
+  point_stride:uint32;
+
+  /// Fields in the `data`
+  fields:[foxglove.PackedElementField];
+
+  /// Point data, interpreted using `fields`
+  data:[uint8];
+}
+
+root_type PointCloud;

package/schemas/flatbuffer/PointsAnnotation.fbs

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+// Generated by https://github.com/foxglove/schemas
+
+include "Color.fbs";
+include "Point2.fbs";
+include "Time.fbs";
+
+namespace foxglove;
+
+/// Type of points annotation
+enum PointsAnnotationType : ubyte {
+  UNKNOWN = 0,
+
+  POINTS = 1,
+
+  LINE_LOOP = 2,
+
+  LINE_STRIP = 3,
+
+  LINE_LIST = 4,
+}
+/// An array of points on a 2D image
+table PointsAnnotation {
+  /// Timestamp of annotation
+  timestamp:Time;
+
+  /// Type of points annotation to draw
+  type:PointsAnnotationType;
+
+  /// Points in 2D image coordinates
+  points:[foxglove.Point2];
+
+  /// Outline color
+  outline_color:foxglove.Color;
+
+  /// Per-point colors, if `type` is `POINTS`, or per-segment stroke colors, if `type` is `LINE_LIST`.
+  outline_colors:[foxglove.Color];
+
+  /// Fill color
+  fill_color:foxglove.Color;
+
+  /// Stroke thickness
+  thickness:double;
+}
+
+root_type PointsAnnotation;

package/schemas/flatbuffer/Pose.fbs

@@ -0,0 +1,17 @@
+// Generated by https://github.com/foxglove/schemas
+
+include "Quaternion.fbs";
+include "Vector3.fbs";
+
+namespace foxglove;
+
+/// A position and orientation for an object or reference frame in 3D space
+table Pose {
+  /// Point denoting position in 3D space
+  position:foxglove.Vector3;
+
+  /// Quaternion denoting orientation in 3D space
+  orientation:foxglove.Quaternion;
+}
+
+root_type Pose;

package/schemas/flatbuffer/PoseInFrame.fbs

@@ -0,0 +1,20 @@
+// Generated by https://github.com/foxglove/schemas
+
+include "Pose.fbs";
+include "Time.fbs";
+
+namespace foxglove;
+
+/// A timestamped pose for an object or reference frame in 3D space
+table PoseInFrame {
+  /// Timestamp of pose
+  timestamp:Time;
+
+  /// Frame of reference for pose position and orientation
+  frame_id:string;
+
+  /// Pose in 3D space
+  pose:foxglove.Pose;
+}
+
+root_type PoseInFrame;

package/schemas/flatbuffer/PosesInFrame.fbs

@@ -0,0 +1,20 @@
+// Generated by https://github.com/foxglove/schemas
+
+include "Pose.fbs";
+include "Time.fbs";
+
+namespace foxglove;
+
+/// An array of timestamped poses for an object or reference frame in 3D space
+table PosesInFrame {
+  /// Timestamp of pose
+  timestamp:Time;
+
+  /// Frame of reference for pose position and orientation
+  frame_id:string;
+
+  /// Poses in 3D space
+  poses:[foxglove.Pose];
+}
+
+root_type PosesInFrame;

package/schemas/flatbuffer/Quaternion.fbs

@@ -0,0 +1,20 @@
+// Generated by https://github.com/foxglove/schemas
+
+namespace foxglove;
+
+/// A [quaternion](https://eater.net/quaternions) representing a rotation in 3D space
+table Quaternion {
+  /// x value
+  x:double;
+
+  /// y value
+  y:double;
+
+  /// z value
+  z:double;
+
+  /// w value
+  w:double = 1.0;
+}
+
+root_type Quaternion;

package/schemas/flatbuffer/RawImage.fbs

@@ -0,0 +1,33 @@
+// Generated by https://github.com/foxglove/schemas
+
+include "Time.fbs";
+
+namespace foxglove;
+
+/// A raw image
+table RawImage {
+  /// 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;
+
+  /// Image width
+  width:uint32;
+
+  /// Image height
+  height:uint32;
+
+  /// 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`
+  encoding:string;
+
+  /// Byte length of a single row
+  step:uint32;
+
+  /// Raw image data
+  data:[uint8];
+}
+
+root_type RawImage;

package/schemas/flatbuffer/SceneEntity.fbs

@@ -0,0 +1,62 @@
+// Generated by https://github.com/foxglove/schemas
+
+include "ArrowPrimitive.fbs";
+include "CubePrimitive.fbs";
+include "CylinderPrimitive.fbs";
+include "Duration.fbs";
+include "KeyValuePair.fbs";
+include "LinePrimitive.fbs";
+include "ModelPrimitive.fbs";
+include "SpherePrimitive.fbs";
+include "TextPrimitive.fbs";
+include "Time.fbs";
+include "TriangleListPrimitive.fbs";
+
+namespace foxglove;
+
+/// A visual element in a 3D scene. An entity may be composed of multiple primitives which all share the same frame of reference.
+table SceneEntity {
+  /// Timestamp of the entity
+  timestamp:Time;
+
+  /// Frame of reference
+  frame_id:string;
+
+  /// Identifier for the entity. A entity will replace any prior entity on the same topic with the same `id`.
+  id:string;
+
+  /// 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.
+  lifetime:Duration;
+
+  /// 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)
+  frame_locked:bool;
+
+  /// Additional user-provided metadata associated with the entity. Keys must be unique.
+  metadata:[foxglove.KeyValuePair];
+
+  /// Arrow primitives
+  arrows:[foxglove.ArrowPrimitive];
+
+  /// Cube primitives
+  cubes:[foxglove.CubePrimitive];
+
+  /// Sphere primitives
+  spheres:[foxglove.SpherePrimitive];
+
+  /// Cylinder primitives
+  cylinders:[foxglove.CylinderPrimitive];
+
+  /// Line primitives
+  lines:[foxglove.LinePrimitive];
+
+  /// Triangle list primitives
+  triangles:[foxglove.TriangleListPrimitive];
+
+  /// Text primitives
+  texts:[foxglove.TextPrimitive];
+
+  /// Model primitives
+  models:[foxglove.ModelPrimitive];
+}
+
+root_type SceneEntity;