spot-sdk-ts
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TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
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TypeScript
import { Duration } from "../../google/protobuf/duration";
import { FrameTreeSnapshot, Vec2 } from "./geometry";
import { RequestHeader, ResponseHeader } from "./header";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api";
/** Rectangular color/greyscale/depth images. */
export interface Image {
/** Number of columns in the image (in pixels). */
cols: number;
/** Number of rows in the image (in pixels). */
rows: number;
/** Raw image data. */
data: Uint8Array;
/** How the image is encoded. */
format: Image_Format;
/**
* Pixel format of the image; this will be set even when the Format implies
* the pixel format.
*/
pixelFormat: Image_PixelFormat;
}
export declare enum Image_Format {
/** FORMAT_UNKNOWN - Unknown image format. */
FORMAT_UNKNOWN = 0,
/**
* FORMAT_JPEG - Color/greyscale formats.
* JPEG format.
*/
FORMAT_JPEG = 1,
/** FORMAT_RAW - Uncompressed. Requires pixel_format. */
FORMAT_RAW = 2,
/** FORMAT_RLE - 1 byte run-length before each pixel value. */
FORMAT_RLE = 3,
UNRECOGNIZED = -1
}
export declare function image_FormatFromJSON(object: any): Image_Format;
export declare function image_FormatToJSON(object: Image_Format): string;
export declare enum Image_PixelFormat {
/** PIXEL_FORMAT_UNKNOWN - Unspecified value -- should not be used. */
PIXEL_FORMAT_UNKNOWN = 0,
/** PIXEL_FORMAT_GREYSCALE_U8 - One byte per pixel. */
PIXEL_FORMAT_GREYSCALE_U8 = 1,
/** PIXEL_FORMAT_RGB_U8 - Three bytes per pixel. */
PIXEL_FORMAT_RGB_U8 = 3,
/** PIXEL_FORMAT_RGBA_U8 - Four bytes per pixel. */
PIXEL_FORMAT_RGBA_U8 = 4,
/** PIXEL_FORMAT_DEPTH_U16 - Little-endian uint16 z-distance from camera (mm). */
PIXEL_FORMAT_DEPTH_U16 = 5,
/** PIXEL_FORMAT_GREYSCALE_U16 - Two bytes per pixel. */
PIXEL_FORMAT_GREYSCALE_U16 = 6,
UNRECOGNIZED = -1
}
export declare function image_PixelFormatFromJSON(object: any): Image_PixelFormat;
export declare function image_PixelFormatToJSON(object: Image_PixelFormat): string;
/** Sensor parameters associated with an image capture. */
export interface CaptureParameters {
/** The duration of exposure in microseconds. */
exposureDuration: Duration | undefined;
/** Sensor gain in dB. */
gain: number;
}
/** Rectangular color/greyscale images. */
export interface ImageCapture {
/** The time at which the image data was acquired in the robot's time basis. */
acquisitionTime: Date | undefined;
/**
* A tree-based collection of transformations, which will include the transformations to each image's
* sensor in addition to transformations to the common frames ("vision", "body", "odom").
* All transforms within the snapshot are at the acquistion time of the image.
*/
transformsSnapshot: FrameTreeSnapshot | undefined;
/** The frame name for the image's sensor source. This will be included in the transform snapshot. */
frameNameImageSensor: string;
/** Image data. */
image: Image | undefined;
/** Sensor parameters associated with this image capture. */
captureParams: CaptureParameters | undefined;
}
/** Proto for a description of an image source on the robot. */
export interface ImageSource {
/** The name of this image source used to get images. */
name: string;
/** Number of columns in the image (in pixels). */
cols: number;
/** Number of rows in the image (in pixels). */
rows: number;
/**
* For depth images, the pixel value that represents a depth of one meter.
* Depth in meters can be computed by dividing the raw pixel value by this scale factor.
*/
depthScale: number;
/** Rectilinear camera model. */
pinhole: ImageSource_PinholeModel | undefined;
/** The kind of images returned by this image source. */
imageType: ImageSource_ImageType;
/** The pixel formats a specific image source supports. */
pixelFormats: Image_PixelFormat[];
/** The image formats a specific image source supports. */
imageFormats: Image_Format[];
}
export declare enum ImageSource_ImageType {
/** IMAGE_TYPE_UNKNOWN - Unspecified image type. */
IMAGE_TYPE_UNKNOWN = 0,
/** IMAGE_TYPE_VISUAL - Color or greyscale intensity image. */
IMAGE_TYPE_VISUAL = 1,
/** IMAGE_TYPE_DEPTH - Pixel values represent distances to objects/surfaces. */
IMAGE_TYPE_DEPTH = 2,
UNRECOGNIZED = -1
}
export declare function imageSource_ImageTypeFromJSON(object: any): ImageSource_ImageType;
export declare function imageSource_ImageTypeToJSON(object: ImageSource_ImageType): string;
/**
* The camera can be modeled as a pinhole camera described with a matrix.
* Camera Matrix can be constructed by the camera intrinsics:
* [[focal_length.x, skew.x, principal_point.x],
* [[ skew.y, focal_length.y, principal_point.y],
* [[ 0, 0, 1]]
*/
export interface ImageSource_PinholeModel {
/** The camera intrinsics are necessary for descrbing the pinhole camera matrix. */
intrinsics: ImageSource_PinholeModel_CameraIntrinsics | undefined;
}
/** Intrinsic parameters are in pixel space. */
export interface ImageSource_PinholeModel_CameraIntrinsics {
/** The focal length of the camera. */
focalLength: Vec2 | undefined;
/** The optical center in sensor coordinates. */
principalPoint: Vec2 | undefined;
/** The skew for the intrinsic matrix. */
skew: Vec2 | undefined;
}
/** The ListImageSources request message for the robot image service. */
export interface ListImageSourcesRequest {
/** Common request header. */
header: RequestHeader | undefined;
}
/** The ListImageSources response message which contains all known image sources for the robot. */
export interface ListImageSourcesResponse {
/** Common response Header. */
header: ResponseHeader | undefined;
/**
* The set of ImageSources available from this service.
* May be empty if the service serves no cameras (e.g., if no cameras were found on startup).
*/
imageSources: ImageSource[];
}
/** The image request specifying the image source and data format desired. */
export interface ImageRequest {
/** The string name of the image source to get image data from. */
imageSourceName: string;
/**
* Image quality: a number from 0 (worst) to 100 (highest).
* Note that jpeg quality 100 is still lossy.
*/
qualityPercent: number;
/**
* Specify the desired image encoding (e.g. JPEG, RAW). If no format is specified (e.g. FORMAT_UNKNOWN), the image
* service will choose the best format for the data.
*/
imageFormat: Image_Format;
/**
* Optional specification of the desired image dimensions.
* If the original image is 1920x1080, a resize_ratio of (2/3) will return an image with size 1280x720
* The range is clipped to [0.01, 1] while maintaining the original aspect ratio.
* For backwards compatibliity, a value of 0 means no resizing.
*/
resizeRatio: number;
/**
* Specify the desired pixel format (e.g. GREYSCALE_U8, RGB_U8). If no format is specified
* (e.g. PIXEL_FORMAT_UNKNOWN), the image service will choose the best format for the data.
*/
pixelFormat: Image_PixelFormat;
}
/** The GetImage request message which can send multiple different image source requests at once. */
export interface GetImageRequest {
/** Common request header. */
header: RequestHeader | undefined;
/** The different image requests for this rpc call. */
imageRequests: ImageRequest[];
}
/** The image response for each request, that includes image data and image source information. */
export interface ImageResponse {
/**
* The image capture contains the image data and information about the state of the camera and robot
* at the time the image was collected.
*/
shot: ImageCapture | undefined;
/** The source describes general information about the camera source the image data was collected from. */
source: ImageSource | undefined;
/** Return status of the request. */
status: ImageResponse_Status;
}
export declare enum ImageResponse_Status {
/**
* STATUS_UNKNOWN - UNKNOWN should never be used.
* An internal ImageService issue has happened if UNKNOWN is set.
* None of the other fields are filled out.
*/
STATUS_UNKNOWN = 0,
/** STATUS_OK - Call succeeded at filling out all the fields. */
STATUS_OK = 1,
/** STATUS_UNKNOWN_CAMERA - Image source name in request is unknown. Other fields are not filled out. */
STATUS_UNKNOWN_CAMERA = 2,
/** STATUS_SOURCE_DATA_ERROR - Failed to fill out ImageSource. All the other fields are not filled out. */
STATUS_SOURCE_DATA_ERROR = 3,
/** STATUS_IMAGE_DATA_ERROR - There was a problem with the image data. Only the ImageSource is filled out. */
STATUS_IMAGE_DATA_ERROR = 4,
/**
* STATUS_UNSUPPORTED_IMAGE_FORMAT_REQUESTED - The requested image format is unsupported for the image-source named. The image data will
* not be filled out. Note, if an image request has "FORMAT_UNKNOWN", the service should choose the
* best format to provide the data in.
*/
STATUS_UNSUPPORTED_IMAGE_FORMAT_REQUESTED = 5,
/**
* STATUS_UNSUPPORTED_PIXEL_FORMAT_REQUESTED - The requested pixel format is unsupported for the image-source named. The image data will
* not be filled out. Note, if an image request has "PIXEL_FORMAT_UNKNOWN", the service
* should choose the best format to provide the data in.
*/
STATUS_UNSUPPORTED_PIXEL_FORMAT_REQUESTED = 6,
/** STATUS_UNSUPPORTED_RESIZE_RATIO_REQUESTED - The requested ratio is out of bounds [0,1] or unsupported by the image service */
STATUS_UNSUPPORTED_RESIZE_RATIO_REQUESTED = 7,
UNRECOGNIZED = -1
}
export declare function imageResponse_StatusFromJSON(object: any): ImageResponse_Status;
export declare function imageResponse_StatusToJSON(object: ImageResponse_Status): string;
/** The GetImage response message which includes image data for all requested sources. */
export interface GetImageResponse {
/** Common response header. */
header: ResponseHeader | undefined;
/** The ordering of these image responses is defined by the order of the ImageRequests. */
imageResponses: ImageResponse[];
}
export declare const Image: {
encode(message: Image, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): Image;
fromJSON(object: any): Image;
toJSON(message: Image): unknown;
fromPartial<I extends {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: Image_Format | undefined;
pixelFormat?: Image_PixelFormat | undefined;
} & {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: Image_Format | undefined;
pixelFormat?: Image_PixelFormat | undefined;
} & { [K in Exclude<keyof I, keyof Image>]: never; }>(object: I): Image;
};
export declare const CaptureParameters: {
encode(message: CaptureParameters, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): CaptureParameters;
fromJSON(object: any): CaptureParameters;
toJSON(message: CaptureParameters): unknown;
fromPartial<I extends {
exposureDuration?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
gain?: number | undefined;
} & {
exposureDuration?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K in Exclude<keyof I["exposureDuration"], keyof Duration>]: never; }) | undefined;
gain?: number | undefined;
} & { [K_1 in Exclude<keyof I, keyof CaptureParameters>]: never; }>(object: I): CaptureParameters;
};
export declare const ImageCapture: {
encode(message: ImageCapture, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ImageCapture;
fromJSON(object: any): ImageCapture;
toJSON(message: ImageCapture): unknown;
fromPartial<I extends {
acquisitionTime?: Date | undefined;
transformsSnapshot?: {
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
} | undefined;
} | undefined;
frameNameImageSensor?: string | undefined;
image?: {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: Image_Format | undefined;
pixelFormat?: Image_PixelFormat | undefined;
} | undefined;
captureParams?: {
exposureDuration?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
gain?: number | undefined;
} | undefined;
} & {
acquisitionTime?: Date | undefined;
transformsSnapshot?: ({
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
} | undefined;
} & {
childToParentEdgeMap?: ({
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
} & {
[x: string]: ({
parentFrameName?: string | undefined;
parentTformChild?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
} & {
parentFrameName?: string | undefined;
parentTformChild?: ({
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} & {
position?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K in Exclude<keyof I["transformsSnapshot"]["childToParentEdgeMap"][string]["parentTformChild"]["position"], keyof import("./geometry").Vec3>]: never; }) | undefined;
rotation?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} & { [K_1 in Exclude<keyof I["transformsSnapshot"]["childToParentEdgeMap"][string]["parentTformChild"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["transformsSnapshot"]["childToParentEdgeMap"][string]["parentTformChild"], keyof import("./geometry").SE3Pose>]: never; }) | undefined;
} & { [K_3 in Exclude<keyof I["transformsSnapshot"]["childToParentEdgeMap"][string], keyof import("./geometry").FrameTreeSnapshot_ParentEdge>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I["transformsSnapshot"]["childToParentEdgeMap"], string | number>]: never; }) | undefined;
} & { [K_5 in Exclude<keyof I["transformsSnapshot"], "childToParentEdgeMap">]: never; }) | undefined;
frameNameImageSensor?: string | undefined;
image?: ({
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: Image_Format | undefined;
pixelFormat?: Image_PixelFormat | undefined;
} & {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: Image_Format | undefined;
pixelFormat?: Image_PixelFormat | undefined;
} & { [K_6 in Exclude<keyof I["image"], keyof Image>]: never; }) | undefined;
captureParams?: ({
exposureDuration?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
gain?: number | undefined;
} & {
exposureDuration?: ({
seconds?: number | undefined;
nanos?: number | undefined;
} & {
seconds?: number | undefined;
nanos?: number | undefined;
} & { [K_7 in Exclude<keyof I["captureParams"]["exposureDuration"], keyof Duration>]: never; }) | undefined;
gain?: number | undefined;
} & { [K_8 in Exclude<keyof I["captureParams"], keyof CaptureParameters>]: never; }) | undefined;
} & { [K_9 in Exclude<keyof I, keyof ImageCapture>]: never; }>(object: I): ImageCapture;
};
export declare const ImageSource: {
encode(message: ImageSource, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ImageSource;
fromJSON(object: any): ImageSource;
toJSON(message: ImageSource): unknown;
fromPartial<I extends {
name?: string | undefined;
cols?: number | undefined;
rows?: number | undefined;
depthScale?: number | undefined;
pinhole?: {
intrinsics?: {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
imageType?: ImageSource_ImageType | undefined;
pixelFormats?: Image_PixelFormat[] | undefined;
imageFormats?: Image_Format[] | undefined;
} & {
name?: string | undefined;
cols?: number | undefined;
rows?: number | undefined;
depthScale?: number | undefined;
pinhole?: ({
intrinsics?: {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
} & {
intrinsics?: ({
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} & {
focalLength?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K in Exclude<keyof I["pinhole"]["intrinsics"]["focalLength"], keyof Vec2>]: never; }) | undefined;
principalPoint?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_1 in Exclude<keyof I["pinhole"]["intrinsics"]["principalPoint"], keyof Vec2>]: never; }) | undefined;
skew?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_2 in Exclude<keyof I["pinhole"]["intrinsics"]["skew"], keyof Vec2>]: never; }) | undefined;
} & { [K_3 in Exclude<keyof I["pinhole"]["intrinsics"], keyof ImageSource_PinholeModel_CameraIntrinsics>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I["pinhole"], "intrinsics">]: never; }) | undefined;
imageType?: ImageSource_ImageType | undefined;
pixelFormats?: (Image_PixelFormat[] & Image_PixelFormat[] & { [K_5 in Exclude<keyof I["pixelFormats"], keyof Image_PixelFormat[]>]: never; }) | undefined;
imageFormats?: (Image_Format[] & Image_Format[] & { [K_6 in Exclude<keyof I["imageFormats"], keyof Image_Format[]>]: never; }) | undefined;
} & { [K_7 in Exclude<keyof I, keyof ImageSource>]: never; }>(object: I): ImageSource;
};
export declare const ImageSource_PinholeModel: {
encode(message: ImageSource_PinholeModel, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ImageSource_PinholeModel;
fromJSON(object: any): ImageSource_PinholeModel;
toJSON(message: ImageSource_PinholeModel): unknown;
fromPartial<I extends {
intrinsics?: {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
} & {
intrinsics?: ({
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} & {
focalLength?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K in Exclude<keyof I["intrinsics"]["focalLength"], keyof Vec2>]: never; }) | undefined;
principalPoint?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_1 in Exclude<keyof I["intrinsics"]["principalPoint"], keyof Vec2>]: never; }) | undefined;
skew?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_2 in Exclude<keyof I["intrinsics"]["skew"], keyof Vec2>]: never; }) | undefined;
} & { [K_3 in Exclude<keyof I["intrinsics"], keyof ImageSource_PinholeModel_CameraIntrinsics>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I, "intrinsics">]: never; }>(object: I): ImageSource_PinholeModel;
};
export declare const ImageSource_PinholeModel_CameraIntrinsics: {
encode(message: ImageSource_PinholeModel_CameraIntrinsics, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ImageSource_PinholeModel_CameraIntrinsics;
fromJSON(object: any): ImageSource_PinholeModel_CameraIntrinsics;
toJSON(message: ImageSource_PinholeModel_CameraIntrinsics): unknown;
fromPartial<I extends {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} & {
focalLength?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K in Exclude<keyof I["focalLength"], keyof Vec2>]: never; }) | undefined;
principalPoint?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_1 in Exclude<keyof I["principalPoint"], keyof Vec2>]: never; }) | undefined;
skew?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_2 in Exclude<keyof I["skew"], keyof Vec2>]: never; }) | undefined;
} & { [K_3 in Exclude<keyof I, keyof ImageSource_PinholeModel_CameraIntrinsics>]: never; }>(object: I): ImageSource_PinholeModel_CameraIntrinsics;
};
export declare const ListImageSourcesRequest: {
encode(message: ListImageSourcesRequest, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ListImageSourcesRequest;
fromJSON(object: any): ListImageSourcesRequest;
toJSON(message: ListImageSourcesRequest): unknown;
fromPartial<I extends {
header?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
} & {
header?: ({
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & { [K in Exclude<keyof I["header"], keyof RequestHeader>]: never; }) | undefined;
} & { [K_1 in Exclude<keyof I, "header">]: never; }>(object: I): ListImageSourcesRequest;
};
export declare const ListImageSourcesResponse: {
encode(message: ListImageSourcesResponse, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ListImageSourcesResponse;
fromJSON(object: any): ListImageSourcesResponse;
toJSON(message: ListImageSourcesResponse): unknown;
fromPartial<I extends {
header?: {
requestHeader?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: {
code?: import("./header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
request?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
imageSources?: {
name?: string | undefined;
cols?: number | undefined;
rows?: number | undefined;
depthScale?: number | undefined;
pinhole?: {
intrinsics?: {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
imageType?: ImageSource_ImageType | undefined;
pixelFormats?: Image_PixelFormat[] | undefined;
imageFormats?: Image_Format[] | undefined;
}[] | undefined;
} & {
header?: ({
requestHeader?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: {
code?: import("./header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} | undefined;
request?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} & {
requestHeader?: ({
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & { [K in Exclude<keyof I["header"]["requestHeader"], keyof RequestHeader>]: never; }) | undefined;
requestReceivedTimestamp?: Date | undefined;
responseTimestamp?: Date | undefined;
error?: ({
code?: import("./header").CommonError_Code | undefined;
message?: string | undefined;
data?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
} & {
code?: import("./header").CommonError_Code | undefined;
message?: string | undefined;
data?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_1 in Exclude<keyof I["header"]["error"]["data"], keyof import("../../google/protobuf/any").Any>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I["header"]["error"], keyof import("./header").CommonError>]: never; }) | undefined;
request?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_3 in Exclude<keyof I["header"]["request"], keyof import("../../google/protobuf/any").Any>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I["header"], keyof ResponseHeader>]: never; }) | undefined;
imageSources?: ({
name?: string | undefined;
cols?: number | undefined;
rows?: number | undefined;
depthScale?: number | undefined;
pinhole?: {
intrinsics?: {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
imageType?: ImageSource_ImageType | undefined;
pixelFormats?: Image_PixelFormat[] | undefined;
imageFormats?: Image_Format[] | undefined;
}[] & ({
name?: string | undefined;
cols?: number | undefined;
rows?: number | undefined;
depthScale?: number | undefined;
pinhole?: {
intrinsics?: {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
imageType?: ImageSource_ImageType | undefined;
pixelFormats?: Image_PixelFormat[] | undefined;
imageFormats?: Image_Format[] | undefined;
} & {
name?: string | undefined;
cols?: number | undefined;
rows?: number | undefined;
depthScale?: number | undefined;
pinhole?: ({
intrinsics?: {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
} & {
intrinsics?: ({
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} & {
focalLength?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_5 in Exclude<keyof I["imageSources"][number]["pinhole"]["intrinsics"]["focalLength"], keyof Vec2>]: never; }) | undefined;
principalPoint?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_6 in Exclude<keyof I["imageSources"][number]["pinhole"]["intrinsics"]["principalPoint"], keyof Vec2>]: never; }) | undefined;
skew?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_7 in Exclude<keyof I["imageSources"][number]["pinhole"]["intrinsics"]["skew"], keyof Vec2>]: never; }) | undefined;
} & { [K_8 in Exclude<keyof I["imageSources"][number]["pinhole"]["intrinsics"], keyof ImageSource_PinholeModel_CameraIntrinsics>]: never; }) | undefined;
} & { [K_9 in Exclude<keyof I["imageSources"][number]["pinhole"], "intrinsics">]: never; }) | undefined;
imageType?: ImageSource_ImageType | undefined;
pixelFormats?: (Image_PixelFormat[] & Image_PixelFormat[] & { [K_10 in Exclude<keyof I["imageSources"][number]["pixelFormats"], keyof Image_PixelFormat[]>]: never; }) | undefined;
imageFormats?: (Image_Format[] & Image_Format[] & { [K_11 in Exclude<keyof I["imageSources"][number]["imageFormats"], keyof Image_Format[]>]: never; }) | undefined;
} & { [K_12 in Exclude<keyof I["imageSources"][number], keyof ImageSource>]: never; })[] & { [K_13 in Exclude<keyof I["imageSources"], keyof {
name?: string | undefined;
cols?: number | undefined;
rows?: number | undefined;
depthScale?: number | undefined;
pinhole?: {
intrinsics?: {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
imageType?: ImageSource_ImageType | undefined;
pixelFormats?: Image_PixelFormat[] | undefined;
imageFormats?: Image_Format[] | undefined;
}[]>]: never; }) | undefined;
} & { [K_14 in Exclude<keyof I, keyof ListImageSourcesResponse>]: never; }>(object: I): ListImageSourcesResponse;
};
export declare const ImageRequest: {
encode(message: ImageRequest, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ImageRequest;
fromJSON(object: any): ImageRequest;
toJSON(message: ImageRequest): unknown;
fromPartial<I extends {
imageSourceName?: string | undefined;
qualityPercent?: number | undefined;
imageFormat?: Image_Format | undefined;
resizeRatio?: number | undefined;
pixelFormat?: Image_PixelFormat | undefined;
} & {
imageSourceName?: string | undefined;
qualityPercent?: number | undefined;
imageFormat?: Image_Format | undefined;
resizeRatio?: number | undefined;
pixelFormat?: Image_PixelFormat | undefined;
} & { [K in Exclude<keyof I, keyof ImageRequest>]: never; }>(object: I): ImageRequest;
};
export declare const GetImageRequest: {
encode(message: GetImageRequest, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): GetImageRequest;
fromJSON(object: any): GetImageRequest;
toJSON(message: GetImageRequest): unknown;
fromPartial<I extends {
header?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
imageRequests?: {
imageSourceName?: string | undefined;
qualityPercent?: number | undefined;
imageFormat?: Image_Format | undefined;
resizeRatio?: number | undefined;
pixelFormat?: Image_PixelFormat | undefined;
}[] | undefined;
} & {
header?: ({
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} & { [K in Exclude<keyof I["header"], keyof RequestHeader>]: never; }) | undefined;
imageRequests?: ({
imageSourceName?: string | undefined;
qualityPercent?: number | undefined;
imageFormat?: Image_Format | undefined;
resizeRatio?: number | undefined;
pixelFormat?: Image_PixelFormat | undefined;
}[] & ({
imageSourceName?: string | undefined;
qualityPercent?: number | undefined;
imageFormat?: Image_Format | undefined;
resizeRatio?: number | undefined;
pixelFormat?: Image_PixelFormat | undefined;
} & {
imageSourceName?: string | undefined;
qualityPercent?: number | undefined;
imageFormat?: Image_Format | undefined;
resizeRatio?: number | undefined;
pixelFormat?: Image_PixelFormat | undefined;
} & { [K_1 in Exclude<keyof I["imageRequests"][number], keyof ImageRequest>]: never; })[] & { [K_2 in Exclude<keyof I["imageRequests"], keyof {
imageSourceName?: string | undefined;
qualityPercent?: number | undefined;
imageFormat?: Image_Format | undefined;
resizeRatio?: number | undefined;
pixelFormat?: Image_PixelFormat | undefined;
}[]>]: never; }) | undefined;
} & { [K_3 in Exclude<keyof I, keyof GetImageRequest>]: never; }>(object: I): GetImageRequest;
};
export declare const ImageResponse: {
encode(message: ImageResponse, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ImageResponse;
fromJSON(object: any): ImageResponse;
toJSON(message: ImageResponse): unknown;
fromPartial<I extends {
shot?: {
acquisitionTime?: Date | undefined;
transformsSnapshot?: {
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
} | undefined;
} | undefined;
frameNameImageSensor?: string | undefined;
image?: {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: Image_Format | undefined;
pixelFormat?: Image_PixelFormat | undefined;
} | undefined;
captureParams?: {
exposureDuration?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
gain?: number | undefined;
} | undefined;
} | undefined;
source?: {
name?: string | undefined;
cols?: number | undefined;
rows?: number | undefined;
depthScale?: number | undefined;
pinhole?: {
intrinsics?: {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
principalPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
skew?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
imageType?: ImageSource_ImageType | undefined;
pixelFormats?: Image_PixelFormat[] | undefined;
imageFormats?: Image_Format[] | undefined;
} | undefined;
status?: ImageResponse_Status | undefined;
} & {
shot?: ({
acquisitionTime?: Date | undefined;
transformsSnapshot?: {
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
} | undefined;
} | undefined;
frameNameImageSensor?: string | undefined;
image?: {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: Image_Format | undefined;
pixelFormat?: Image_PixelFormat | undefined;
} | undefined;
captureParams?: {
exposureDuration?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
gain?: number | undefined;
} | undefined;
} & {
acquisitionTime?: Date | undefined;
transformsSnapshot?: ({
childToParentEdgeMap?: {
[x: string]: {
parentFrameName?: string | undefined;
parentTformChild?: {
position?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
rotation?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
w?: number | undefined;
} | undefined;
} | undefined;
} | undefined;
} | undefined;
} & {
childToParentEdg