spatialdds-ros 0.3.0__py3-none-any.whl

spatialdds_idl18/spatial/sensing/radio/_radio.py

@@ -0,0 +1,141 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: spatial.sensing.radio
+  IDL file: radio.idl
+
+"""
+
+from dataclasses import dataclass
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+# generate_types.py: bind the root name the dotted
+# annotations below already use, so get_type_hints works
+import spatialdds_idl18
+from spatialdds_idl18 import spatial
+
+if TYPE_CHECKING:
+    import builtin
+    import spatial.common
+    import spatial.core
+    import spatial.sensing.common
+
+
+MODULE_ID = "spatial.sensing.radio/1.8"
+Time = types.typedef['spatialdds_idl18.spatial.sensing.radio.Time', 'spatialdds_idl18.builtin.Time']
+PoseSE3 = types.typedef['spatialdds_idl18.spatial.sensing.radio.PoseSE3', 'spatialdds_idl18.spatial.core.PoseSE3']
+FrameRef = types.typedef['spatialdds_idl18.spatial.sensing.radio.FrameRef', 'spatialdds_idl18.spatial.common.FrameRef']
+MetaKV = types.typedef['spatialdds_idl18.spatial.sensing.radio.MetaKV', 'spatialdds_idl18.spatial.common.MetaKV']
+StreamMeta = types.typedef['spatialdds_idl18.spatial.sensing.radio.StreamMeta', 'spatialdds_idl18.spatial.sensing.common.StreamMeta']
+@annotate.final
+class RadioType(idl.IdlEnum, typename="spatial.sensing.radio.RadioType", default="WIFI"):
+    WIFI = 0
+    BLE = 1
+    BT_CLASSIC = 2
+    UWB = 3
+    CELLULAR = 4
+    LORA = 5
+    OTHER_RADIO = 255
+@annotate.final
+class WifiBand(idl.IdlEnum, typename="spatial.sensing.radio.WifiBand", default="BAND_UNKNOWN"):
+    BAND_UNKNOWN = 0
+    BAND_2_4GHZ = 1
+    BAND_5GHZ = 2
+    BAND_6GHZ = 3
+    BAND_60GHZ = 4
+@annotate.final
+class RadioMeasurementKind(idl.IdlEnum, typename="spatial.sensing.radio.RadioMeasurementKind", default="RSSI"):
+    RSSI = 0
+    RTT_NS = 1
+    AOA_DEG = 2
+    RANGE_M = 3
+    RSRP = 4
+    CSI_REF = 5
+    OTHER_MEASURE = 255
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class RadioObservation(idl.IdlStruct, typename="spatial.sensing.radio.RadioObservation"):
+    identifier: str
+    measurement_kind: 'spatialdds_idl18.spatial.sensing.radio.RadioMeasurementKind'
+    value: types.float32
+    has_frequency: bool
+    frequency_mhz: types.float32
+    has_band: bool
+    band: 'spatialdds_idl18.spatial.sensing.radio.WifiBand'
+    has_ssid: bool
+    ssid: str
+    has_channel: bool
+    channel: types.uint16
+    has_major_minor: bool
+    major: types.uint16
+    minor: types.uint16
+    has_tx_power: bool
+    tx_power_dbm: types.int8
+    has_range: bool
+    range_m: types.float32
+    has_range_std: bool
+    range_std_m: types.float32
+    has_aoa_azimuth: bool
+    aoa_azimuth_deg: types.float32
+    has_aoa_elevation: bool
+    aoa_elevation_deg: types.float32
+    has_noise_floor: bool
+    noise_floor_dbm: types.float32
+    has_measurement_count: bool
+    measurement_count: types.uint8
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class RadioScan(idl.IdlStruct, typename="spatial.sensing.radio.RadioScan"):
+    sensor_id: str
+    annotate.key("sensor_id")
+    radio_type: 'spatialdds_idl18.spatial.sensing.radio.RadioType'
+    scan_seq: types.uint64
+    stamp: 'spatialdds_idl18.spatial.sensing.radio.Time'
+    has_scan_duration: bool
+    scan_duration_s: types.float32
+    observations: types.sequence['spatialdds_idl18.spatial.sensing.radio.RadioObservation', 256]
+    has_aggregation_window: bool
+    aggregation_window_s: types.float32
+    source_id: str
+    has_sensor_pose: bool
+    sensor_pose: 'spatialdds_idl18.spatial.sensing.radio.PoseSE3'
+    pose_frame_ref: 'spatialdds_idl18.spatial.sensing.radio.FrameRef'
+    schema_version: str
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class RadioSensorMeta(idl.IdlStruct, typename="spatial.sensing.radio.RadioSensorMeta"):
+    sensor_id: str
+    annotate.key("sensor_id")
+    base: 'spatialdds_idl18.spatial.sensing.radio.StreamMeta'
+    radio_type: 'spatialdds_idl18.spatial.sensing.radio.RadioType'
+    has_rssi: bool
+    has_rtt: bool
+    has_aoa: bool
+    has_csi: bool
+    has_wifi_bands: bool
+    supported_bands: types.sequence['spatialdds_idl18.spatial.sensing.radio.WifiBand', 4]
+    has_ble_version: bool
+    ble_version: str
+    device_model: str
+    platform: str
+    has_max_observations: bool
+    max_observations: types.uint16
+    has_typical_scan_duration: bool
+    typical_scan_duration_s: types.float32
+    schema_version: str
+
+

spatialdds_idl18/spatial/sensing/rf_beam/__init__.py

@@ -0,0 +1,25 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: spatial.sensing.rf_beam
+
+"""
+
+from ._rf_beam import BeamSweepType, BlobRef, Codec, FrameHeader, FrameQuality, FrameRef, MODULE_ID, PoseSE3, PowerUnit, RfBeamArraySet, RfBeamFrame, RfBeamMeta, SampleType, StreamMeta, Time
+__all__ = [
+	"BeamSweepType",
+	"BlobRef",
+	"Codec",
+	"FrameHeader",
+	"FrameQuality",
+	"FrameRef",
+	"MODULE_ID",
+	"PoseSE3",
+	"PowerUnit",
+	"RfBeamArraySet",
+	"RfBeamFrame",
+	"RfBeamMeta",
+	"SampleType",
+	"StreamMeta",
+	"Time",
+]

spatialdds_idl18/spatial/sensing/rf_beam/_rf_beam.py

@@ -0,0 +1,117 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: spatial.sensing.rf_beam
+  IDL file: rf_beam.idl
+
+"""
+
+from dataclasses import dataclass
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+# generate_types.py: bind the root name the dotted
+# annotations below already use, so get_type_hints works
+import spatialdds_idl18
+from spatialdds_idl18 import spatial
+
+if TYPE_CHECKING:
+    import builtin
+    import spatial.common
+    import spatial.core
+    import spatial.sensing.common
+
+
+MODULE_ID = "spatial.sensing.rf_beam/1.8"
+Time = types.typedef['spatialdds_idl18.spatial.sensing.rf_beam.Time', 'spatialdds_idl18.builtin.Time']
+PoseSE3 = types.typedef['spatialdds_idl18.spatial.sensing.rf_beam.PoseSE3', 'spatialdds_idl18.spatial.core.PoseSE3']
+BlobRef = types.typedef['spatialdds_idl18.spatial.sensing.rf_beam.BlobRef', 'spatialdds_idl18.spatial.core.BlobRef']
+FrameRef = types.typedef['spatialdds_idl18.spatial.sensing.rf_beam.FrameRef', 'spatialdds_idl18.spatial.common.FrameRef']
+StreamMeta = types.typedef['spatialdds_idl18.spatial.sensing.rf_beam.StreamMeta', 'spatialdds_idl18.spatial.sensing.common.StreamMeta']
+FrameHeader = types.typedef['spatialdds_idl18.spatial.sensing.rf_beam.FrameHeader', 'spatialdds_idl18.spatial.sensing.common.FrameHeader']
+FrameQuality = types.typedef['spatialdds_idl18.spatial.sensing.rf_beam.FrameQuality', 'spatialdds_idl18.spatial.sensing.common.FrameQuality']
+Codec = types.typedef['spatialdds_idl18.spatial.sensing.rf_beam.Codec', 'spatialdds_idl18.spatial.sensing.common.Codec']
+SampleType = types.typedef['spatialdds_idl18.spatial.sensing.rf_beam.SampleType', 'spatialdds_idl18.spatial.sensing.common.SampleType']
+@annotate.final
+class BeamSweepType(idl.IdlEnum, typename="spatial.sensing.rf_beam.BeamSweepType", default="EXHAUSTIVE"):
+    EXHAUSTIVE = 0
+    HIERARCHICAL = 1
+    TRACKING = 2
+    PARTIAL = 3
+    OTHER = 255
+@annotate.final
+class PowerUnit(idl.IdlEnum, typename="spatial.sensing.rf_beam.PowerUnit", default="DBM"):
+    DBM = 0
+    LINEAR_MW = 1
+    RSRP = 2
+    OTHER_UNIT = 255
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class RfBeamMeta(idl.IdlStruct, typename="spatial.sensing.rf_beam.RfBeamMeta"):
+    stream_id: str
+    annotate.key("stream_id")
+    base: 'spatialdds_idl18.spatial.sensing.rf_beam.StreamMeta'
+    center_freq_ghz: types.float32
+    has_bandwidth: bool
+    bandwidth_ghz: types.float32
+    n_elements: types.uint16
+    n_beams: types.uint16
+    fov_az_deg: types.float32
+    has_fov_el: bool
+    fov_el_deg: types.float32
+    has_array_index: bool
+    array_index: types.uint8
+    array_label: str
+    codebook_type: str
+    has_mimo_config: bool
+    n_tx: types.uint16
+    n_rx: types.uint16
+    power_unit: 'spatialdds_idl18.spatial.sensing.rf_beam.PowerUnit'
+    schema_version: str
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class RfBeamFrame(idl.IdlStruct, typename="spatial.sensing.rf_beam.RfBeamFrame"):
+    stream_id: str
+    annotate.key("stream_id")
+    frame_seq: types.uint64
+    hdr: 'spatialdds_idl18.spatial.sensing.rf_beam.FrameHeader'
+    sweep_type: 'spatialdds_idl18.spatial.sensing.rf_beam.BeamSweepType'
+    power: types.sequence[types.float32, 1024]
+    beam_indices: types.sequence[types.uint16, 1024]
+    has_best_beam: bool
+    best_beam_idx: types.uint16
+    best_beam_power: types.float32
+    has_blockage_state: bool
+    is_blocked: bool
+    blockage_confidence: types.float32
+    has_snr_db: bool
+    snr_db: types.float32
+    has_quality: bool
+    quality: 'spatialdds_idl18.spatial.sensing.rf_beam.FrameQuality'
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class RfBeamArraySet(idl.IdlStruct, typename="spatial.sensing.rf_beam.RfBeamArraySet"):
+    set_id: str
+    annotate.key("set_id")
+    frame_seq: types.uint64
+    stamp: 'spatialdds_idl18.spatial.sensing.rf_beam.Time'
+    arrays: types.sequence['spatialdds_idl18.spatial.sensing.rf_beam.RfBeamFrame', 8]
+    has_overall_best: bool
+    overall_best_array_idx: types.uint16
+    overall_best_beam_idx: types.uint16
+    overall_best_power: types.float32
+
+

spatialdds_idl18/spatial/sensing/vision/__init__.py

@@ -0,0 +1,36 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: spatial.sensing.vision
+
+"""
+
+from ._vision import Axis, BlobRef, CamIntrinsics, CamModel, Codec, ColorSpace, Distortion, FrameHeader, FrameQuality, FrameRef, Keypoint2D, MODULE_ID, PayloadKind, PixFormat, PoseSE3, ROI, ROIReply, ROIRequest, RigRole, SampleType, StreamMeta, Time, Track2D, VisionDetections, VisionFrame, VisionMeta
+__all__ = [
+	"Axis",
+	"BlobRef",
+	"CamIntrinsics",
+	"CamModel",
+	"Codec",
+	"ColorSpace",
+	"Distortion",
+	"FrameHeader",
+	"FrameQuality",
+	"FrameRef",
+	"Keypoint2D",
+	"MODULE_ID",
+	"PayloadKind",
+	"PixFormat",
+	"PoseSE3",
+	"ROI",
+	"ROIReply",
+	"ROIRequest",
+	"RigRole",
+	"SampleType",
+	"StreamMeta",
+	"Time",
+	"Track2D",
+	"VisionDetections",
+	"VisionFrame",
+	"VisionMeta",
+]

spatialdds_idl18/spatial/sensing/vision/_vision.py

@@ -0,0 +1,170 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: spatial.sensing.vision
+  IDL file: vision.idl
+
+"""
+
+from dataclasses import dataclass
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+# generate_types.py: bind the root name the dotted
+# annotations below already use, so get_type_hints works
+import spatialdds_idl18
+from spatialdds_idl18 import spatial
+
+if TYPE_CHECKING:
+    import builtin
+    import spatial.common
+    import spatial.core
+    import spatial.sensing.common
+
+
+MODULE_ID = "spatial.sensing.vision/1.8"
+Time = types.typedef['spatialdds_idl18.spatial.sensing.vision.Time', 'spatialdds_idl18.builtin.Time']
+PoseSE3 = types.typedef['spatialdds_idl18.spatial.sensing.vision.PoseSE3', 'spatialdds_idl18.spatial.core.PoseSE3']
+BlobRef = types.typedef['spatialdds_idl18.spatial.sensing.vision.BlobRef', 'spatialdds_idl18.spatial.core.BlobRef']
+FrameRef = types.typedef['spatialdds_idl18.spatial.sensing.vision.FrameRef', 'spatialdds_idl18.spatial.common.FrameRef']
+Codec = types.typedef['spatialdds_idl18.spatial.sensing.vision.Codec', 'spatialdds_idl18.spatial.sensing.common.Codec']
+PayloadKind = types.typedef['spatialdds_idl18.spatial.sensing.vision.PayloadKind', 'spatialdds_idl18.spatial.sensing.common.PayloadKind']
+SampleType = types.typedef['spatialdds_idl18.spatial.sensing.vision.SampleType', 'spatialdds_idl18.spatial.sensing.common.SampleType']
+Axis = types.typedef['spatialdds_idl18.spatial.sensing.vision.Axis', 'spatialdds_idl18.spatial.sensing.common.Axis']
+ROI = types.typedef['spatialdds_idl18.spatial.sensing.vision.ROI', 'spatialdds_idl18.spatial.sensing.common.ROI']
+StreamMeta = types.typedef['spatialdds_idl18.spatial.sensing.vision.StreamMeta', 'spatialdds_idl18.spatial.sensing.common.StreamMeta']
+FrameHeader = types.typedef['spatialdds_idl18.spatial.sensing.vision.FrameHeader', 'spatialdds_idl18.spatial.sensing.common.FrameHeader']
+FrameQuality = types.typedef['spatialdds_idl18.spatial.sensing.vision.FrameQuality', 'spatialdds_idl18.spatial.sensing.common.FrameQuality']
+ROIRequest = types.typedef['spatialdds_idl18.spatial.sensing.vision.ROIRequest', 'spatialdds_idl18.spatial.sensing.common.ROIRequest']
+ROIReply = types.typedef['spatialdds_idl18.spatial.sensing.vision.ROIReply', 'spatialdds_idl18.spatial.sensing.common.ROIReply']
+@annotate.final
+class CamModel(idl.IdlEnum, typename="spatial.sensing.vision.CamModel", default="PINHOLE"):
+    PINHOLE = 0
+    FISHEYE_EQUIDISTANT = 1
+    KB_4 = 2
+    OMNI = 3
+@annotate.final
+class Distortion(idl.IdlEnum, typename="spatial.sensing.vision.Distortion", default="NONE"):
+    NONE = 0
+    RADTAN = 1
+    KANNALA_BRANDT = 2
+@annotate.final
+class PixFormat(idl.IdlEnum, typename="spatial.sensing.vision.PixFormat", default="UNKNOWN"):
+    UNKNOWN = 0
+    YUV420 = 1
+    RGB8 = 2
+    BGR8 = 3
+    RGBA8 = 4
+    DEPTH16 = 5
+    RAW10 = 10
+    RAW12 = 12
+    RAW16 = 16
+@annotate.final
+class ColorSpace(idl.IdlEnum, typename="spatial.sensing.vision.ColorSpace", default="SRGB"):
+    SRGB = 0
+    REC709 = 1
+    REC2020 = 2
+    LINEAR = 10
+@annotate.final
+class RigRole(idl.IdlEnum, typename="spatial.sensing.vision.RigRole", default="LEFT"):
+    LEFT = 0
+    RIGHT = 1
+    CENTER = 2
+    FRONT = 3
+    FRONT_LEFT = 4
+    FRONT_RIGHT = 5
+    BACK = 6
+    BACK_LEFT = 7
+    BACK_RIGHT = 8
+    AUX = 9
+    PANORAMIC = 10
+    EQUIRECTANGULAR = 11
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class CamIntrinsics(idl.IdlStruct, typename="spatial.sensing.vision.CamIntrinsics"):
+    model: 'spatialdds_idl18.spatial.sensing.vision.CamModel'
+    width: types.uint16
+    height: types.uint16
+    fx: types.float32
+    fy: types.float32
+    cx: types.float32
+    cy: types.float32
+    dist: 'spatialdds_idl18.spatial.sensing.vision.Distortion'
+    dist_params: types.sequence[types.float32, 16]
+    shutter_us: types.float32
+    readout_us: types.float32
+    pix: 'spatialdds_idl18.spatial.sensing.vision.PixFormat'
+    color: 'spatialdds_idl18.spatial.sensing.vision.ColorSpace'
+    calib_version: str
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class VisionMeta(idl.IdlStruct, typename="spatial.sensing.vision.VisionMeta"):
+    stream_id: str
+    annotate.key("stream_id")
+    base: 'spatialdds_idl18.spatial.sensing.vision.StreamMeta'
+    K: 'spatialdds_idl18.spatial.sensing.vision.CamIntrinsics'
+    role: 'spatialdds_idl18.spatial.sensing.vision.RigRole'
+    rig_id: str
+    codec: 'spatialdds_idl18.spatial.sensing.vision.Codec'
+    pix: 'spatialdds_idl18.spatial.sensing.vision.PixFormat'
+    color: 'spatialdds_idl18.spatial.sensing.vision.ColorSpace'
+    schema_version: str
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class VisionFrame(idl.IdlStruct, typename="spatial.sensing.vision.VisionFrame"):
+    stream_id: str
+    annotate.key("stream_id")
+    frame_seq: types.uint64
+    hdr: 'spatialdds_idl18.spatial.sensing.vision.FrameHeader'
+    codec: 'spatialdds_idl18.spatial.sensing.vision.Codec'
+    pix: 'spatialdds_idl18.spatial.sensing.vision.PixFormat'
+    color: 'spatialdds_idl18.spatial.sensing.vision.ColorSpace'
+    has_line_readout_us: bool
+    line_readout_us: types.float32
+    rectified: bool
+    is_key_frame: bool
+    quality: 'spatialdds_idl18.spatial.sensing.vision.FrameQuality'
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class Keypoint2D(idl.IdlStruct, typename="spatial.sensing.vision.Keypoint2D"):
+    u: types.float32
+    v: types.float32
+    score: types.float32
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class Track2D(idl.IdlStruct, typename="spatial.sensing.vision.Track2D"):
+    id: types.uint64
+    trail: types.sequence['spatialdds_idl18.spatial.sensing.vision.Keypoint2D', 8192]
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class VisionDetections(idl.IdlStruct, typename="spatial.sensing.vision.VisionDetections"):
+    stream_id: str
+    annotate.key("stream_id")
+    frame_seq: types.uint64
+    stamp: 'spatialdds_idl18.spatial.sensing.vision.Time'
+    keypoints: types.sequence['spatialdds_idl18.spatial.sensing.vision.Keypoint2D', 8192]
+    tracks: types.sequence['spatialdds_idl18.spatial.sensing.vision.Track2D', 2048]
+
+

spatialdds_idl18/spatial/slam_frontend/__init__.py

@@ -0,0 +1,22 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: spatial.slam_frontend
+
+"""
+
+from ._slam_frontend import CameraInfo, DistortionModelKind, Feature2D, FeatureMatch, FrameRef, KeyframeFeatures, Landmark, MODULE_ID, MatchSet, Time, TrackObs, Tracklet
+__all__ = [
+	"CameraInfo",
+	"DistortionModelKind",
+	"Feature2D",
+	"FeatureMatch",
+	"FrameRef",
+	"KeyframeFeatures",
+	"Landmark",
+	"MODULE_ID",
+	"MatchSet",
+	"Time",
+	"TrackObs",
+	"Tracklet",
+]

spatialdds_idl18/spatial/slam_frontend/_slam_frontend.py

@@ -0,0 +1,144 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: spatial.slam_frontend
+  IDL file: slam_frontend.idl
+
+"""
+
+from dataclasses import dataclass
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+# generate_types.py: bind the root name the dotted
+# annotations below already use, so get_type_hints works
+import spatialdds_idl18
+from spatialdds_idl18 import spatial
+
+if TYPE_CHECKING:
+    import builtin
+    import spatial.common
+
+
+MODULE_ID = "spatial.slam_frontend/1.8"
+Time = types.typedef['spatialdds_idl18.spatial.slam_frontend.Time', 'spatialdds_idl18.builtin.Time']
+FrameRef = types.typedef['spatialdds_idl18.spatial.slam_frontend.FrameRef', 'spatialdds_idl18.spatial.common.FrameRef']
+@annotate.final
+class DistortionModelKind(idl.IdlEnum, typename="spatial.slam_frontend.DistortionModelKind", default="NONE"):
+    NONE = 0
+    RADTAN = 1
+    EQUIDISTANT = 2
+    KANNALA_BRANDT = 3
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class CameraInfo(idl.IdlStruct, typename="spatial.slam_frontend.CameraInfo"):
+    camera_id: str
+    annotate.key("camera_id")
+    width: types.uint32
+    height: types.uint32
+    fx: types.float64
+    fy: types.float64
+    cx: types.float64
+    cy: types.float64
+    dist_kind: 'spatialdds_idl18.spatial.slam_frontend.DistortionModelKind'
+    dist: types.sequence[types.float64, 8]
+    frame_ref: 'spatialdds_idl18.spatial.slam_frontend.FrameRef'
+    stamp: 'spatialdds_idl18.spatial.slam_frontend.Time'
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class Feature2D(idl.IdlStruct, typename="spatial.slam_frontend.Feature2D"):
+    u: types.float64
+    v: types.float64
+    scale: types.float32
+    angle: types.float32
+    score: types.float32
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class KeyframeFeatures(idl.IdlStruct, typename="spatial.slam_frontend.KeyframeFeatures"):
+    node_id: str
+    annotate.key("node_id")
+    camera_id: str
+    desc_type: str
+    desc_len: types.uint32
+    row_major: bool
+    keypoints: types.sequence['spatialdds_idl18.spatial.slam_frontend.Feature2D', 4096]
+    descriptors: types.sequence[types.uint8, 65535]
+    stamp: 'spatialdds_idl18.spatial.slam_frontend.Time'
+    source_id: str
+    seq: types.uint64
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class FeatureMatch(idl.IdlStruct, typename="spatial.slam_frontend.FeatureMatch"):
+    node_id_a: str
+    idx_a: types.uint32
+    node_id_b: str
+    idx_b: types.uint32
+    score: types.float32
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class MatchSet(idl.IdlStruct, typename="spatial.slam_frontend.MatchSet"):
+    match_id: str
+    annotate.key("match_id")
+    matches: types.sequence['spatialdds_idl18.spatial.slam_frontend.FeatureMatch', 8192]
+    stamp: 'spatialdds_idl18.spatial.slam_frontend.Time'
+    source_id: str
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class Landmark(idl.IdlStruct, typename="spatial.slam_frontend.Landmark"):
+    lm_id: str
+    annotate.key("lm_id")
+    map_id: str
+    p: 'spatialdds_idl18.spatial.common.Vec3'
+    has_cov: bool
+    cov: 'spatialdds_idl18.spatial.common.Mat3x3'
+    desc: types.sequence[types.uint8, 4096]
+    desc_type: str
+    stamp: 'spatialdds_idl18.spatial.slam_frontend.Time'
+    source_id: str
+    seq: types.uint64
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class TrackObs(idl.IdlStruct, typename="spatial.slam_frontend.TrackObs"):
+    node_id: str
+    u: types.float64
+    v: types.float64
+
+
+@dataclass
+@annotate.appendable
+@annotate.autoid("sequential")
+class Tracklet(idl.IdlStruct, typename="spatial.slam_frontend.Tracklet"):
+    track_id: str
+    annotate.key("track_id")
+    has_lm_id: bool
+    lm_id: str
+    obs: types.sequence['spatialdds_idl18.spatial.slam_frontend.TrackObs', 64]
+    source_id: str
+    stamp: 'spatialdds_idl18.spatial.slam_frontend.Time'
+
+

spatialdds_idl18/spatial/vio/__init__.py

@@ -0,0 +1,20 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v11.0.1
+  Module: spatial.vio
+
+"""
+
+from ._vio import FrameRef, FusedState, FusionMode, FusionSourceKind, ImuInfo, ImuSample, MODULE_ID, MagnetometerSample, SensorFusionSample, Time
+__all__ = [
+	"FrameRef",
+	"FusedState",
+	"FusionMode",
+	"FusionSourceKind",
+	"ImuInfo",
+	"ImuSample",
+	"MODULE_ID",
+	"MagnetometerSample",
+	"SensorFusionSample",
+	"Time",
+]