spot-sdk-ts
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TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
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TypeScript
import { RequestHeader, ResponseHeader } from "./header";
import { Image, ImageResponse } from "./image";
import { Any } from "../../google/protobuf/any";
import { WorldObject } from "./world_object";
import { AlertData } from "./alerts";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api";
export declare enum NetworkComputeStatus {
/** NETWORK_COMPUTE_STATUS_UNKNOWN - Status is not specified. */
NETWORK_COMPUTE_STATUS_UNKNOWN = 0,
/** NETWORK_COMPUTE_STATUS_SUCCESS - Succeeded. */
NETWORK_COMPUTE_STATUS_SUCCESS = 1,
/** NETWORK_COMPUTE_STATUS_EXTERNAL_SERVICE_NOT_FOUND - External service not found in the robot's directory. */
NETWORK_COMPUTE_STATUS_EXTERNAL_SERVICE_NOT_FOUND = 2,
/** NETWORK_COMPUTE_STATUS_EXTERNAL_SERVER_ERROR - The call to the external server did not succeed. */
NETWORK_COMPUTE_STATUS_EXTERNAL_SERVER_ERROR = 3,
/** NETWORK_COMPUTE_STATUS_ROTATION_ERROR - The robot failed to rotate the image as requested. */
NETWORK_COMPUTE_STATUS_ROTATION_ERROR = 4,
UNRECOGNIZED = -1
}
export declare function networkComputeStatusFromJSON(object: any): NetworkComputeStatus;
export declare function networkComputeStatusToJSON(object: NetworkComputeStatus): string;
export declare enum ListAvailableModelsStatus {
/** LIST_AVAILABLE_MODELS_STATUS_UNKNOWN - Status is not specified. */
LIST_AVAILABLE_MODELS_STATUS_UNKNOWN = 0,
/** LIST_AVAILABLE_MODELS_STATUS_SUCCESS - Succeeded. */
LIST_AVAILABLE_MODELS_STATUS_SUCCESS = 1,
/** LIST_AVAILABLE_MODELS_STATUS_EXTERNAL_SERVICE_NOT_FOUND - External service not found in the robot's directory. */
LIST_AVAILABLE_MODELS_STATUS_EXTERNAL_SERVICE_NOT_FOUND = 2,
/** LIST_AVAILABLE_MODELS_STATUS_EXTERNAL_SERVER_ERROR - The call to the external server did not succeed. */
LIST_AVAILABLE_MODELS_STATUS_EXTERNAL_SERVER_ERROR = 3,
UNRECOGNIZED = -1
}
export declare function listAvailableModelsStatusFromJSON(object: any): ListAvailableModelsStatus;
export declare function listAvailableModelsStatusToJSON(object: ListAvailableModelsStatus): string;
export interface ListAvailableModelsRequest {
/** Common request header */
header: RequestHeader | undefined;
/** Configuration about which server to use. */
serverConfig: NetworkComputeServerConfiguration | undefined;
}
export interface ListAvailableModelsResponse {
/** Common response header. */
header: ResponseHeader | undefined;
/** Provide list of available models */
availableModels: string[];
/** Optional information about available classes for each model */
labels: ModelLabels[];
/** Command status */
status: ListAvailableModelsStatus;
}
export interface ModelLabels {
/** Model name. */
modelName: string;
/** List of class labels returned by this model. */
availableLabels: string[];
}
export interface NetworkComputeRequest {
/** Common request header. */
header: RequestHeader | undefined;
/** Input data. */
inputData: NetworkComputeInputData | undefined;
/** Configuration about which server to use. */
serverConfig: NetworkComputeServerConfiguration | undefined;
}
export interface ImageSourceAndService {
/** Image source. */
imageSource: string;
/** Image service. If blank, it is assumed to be the robot's default image service. */
imageService: string;
}
export interface NetworkComputeInputData {
/** Image source to collect an image from. */
imageSourceAndService: ImageSourceAndService | undefined;
/** Image to process, if you are not using an image source. */
image: Image | undefined;
/**
* Other data that isn't an image. NetworkComputeBridge service will pass it through
* to the remote server so you can do computation on arbitrary data.
*/
otherData: Any | undefined;
/** Name of the model to be run on the input data. */
modelName: string;
/**
* Minimum confidence [0.0 - 1.0] an object must have to be returned. Detections below this
* confidence threshold will be suppressed in the response.
*/
minConfidence: number;
/**
* Options for rotating the image before processing. When unset, no rotation is applied.
* Rotation is supported for data from image services that provide a FrameTreeSnapshot
* defining the sensor's frame with respect to Spot's body and vision frames.
* Field is ignored for non-image input.
*/
rotateImage: NetworkComputeInputData_RotateImage;
}
export declare enum NetworkComputeInputData_RotateImage {
/** ROTATE_IMAGE_UNKNOWN - Unspecified rotation method. Do not use. */
ROTATE_IMAGE_UNKNOWN = 0,
/** ROTATE_IMAGE_NO_ROTATION - No rotation applied. */
ROTATE_IMAGE_NO_ROTATION = 3,
/** ROTATE_IMAGE_ALIGN_HORIZONTAL - Rotate the images so the horizon is not rolled with respect to gravity. */
ROTATE_IMAGE_ALIGN_HORIZONTAL = 1,
/**
* ROTATE_IMAGE_ALIGN_WITH_BODY - Rotate the images so that the horizon in the image is aligned with the inclination of
* the body. For example, when applied to the left body camera this option rotates the image
* so that the world does not appear upside down when the robot is standing upright, but if the
* body is pitched up, the image will appear rotated.
*/
ROTATE_IMAGE_ALIGN_WITH_BODY = 2,
UNRECOGNIZED = -1
}
export declare function networkComputeInputData_RotateImageFromJSON(object: any): NetworkComputeInputData_RotateImage;
export declare function networkComputeInputData_RotateImageToJSON(object: NetworkComputeInputData_RotateImage): string;
export interface NetworkComputeServerConfiguration {
/** Service name in the robot's Directory for the worker that will process the request. */
serviceName: string;
}
export interface NetworkComputeResponse {
/** Common response header. */
header: ResponseHeader | undefined;
/** Detection information. May include bounding boxes, image coordinates, 3D pose information, etc. */
objectInImage: WorldObject[];
/**
* The image we computed the data on. If the input image itself was provided in the request,
* this field is not populated. This field is not set for non-image input.
*/
imageResponse: ImageResponse | undefined;
/**
* If the image was rotated for processing, this field will contain the amount it was rotated by
* (counter-clockwise, in radians).
*
* Note that the image returned is *not* rotated, regardless of if it was rotated
* for processing. This ensures that all other calibration and metadata remains valid.
*/
imageRotationAngle: number;
/** Non image-type data that can optionally be returned by a remote server. */
otherData: Any | undefined;
/** Command status */
status: NetworkComputeStatus;
/** Optional field to indicate an alert detected by this model. */
alertData: AlertData | undefined;
}
export declare const ListAvailableModelsRequest: {
encode(message: ListAvailableModelsRequest, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ListAvailableModelsRequest;
fromJSON(object: any): ListAvailableModelsRequest;
toJSON(message: ListAvailableModelsRequest): unknown;
fromPartial<I extends {
header?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
serverConfig?: {
serviceName?: string | 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;
serverConfig?: ({
serviceName?: string | undefined;
} & {
serviceName?: string | undefined;
} & { [K_1 in Exclude<keyof I["serverConfig"], "serviceName">]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I, keyof ListAvailableModelsRequest>]: never; }>(object: I): ListAvailableModelsRequest;
};
export declare const ListAvailableModelsResponse: {
encode(message: ListAvailableModelsResponse, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ListAvailableModelsResponse;
fromJSON(object: any): ListAvailableModelsResponse;
toJSON(message: ListAvailableModelsResponse): 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;
availableModels?: string[] | undefined;
labels?: {
modelName?: string | undefined;
availableLabels?: string[] | undefined;
}[] | undefined;
status?: ListAvailableModelsStatus | 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 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 Any>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I["header"], keyof ResponseHeader>]: never; }) | undefined;
availableModels?: (string[] & string[] & { [K_5 in Exclude<keyof I["availableModels"], keyof string[]>]: never; }) | undefined;
labels?: ({
modelName?: string | undefined;
availableLabels?: string[] | undefined;
}[] & ({
modelName?: string | undefined;
availableLabels?: string[] | undefined;
} & {
modelName?: string | undefined;
availableLabels?: (string[] & string[] & { [K_6 in Exclude<keyof I["labels"][number]["availableLabels"], keyof string[]>]: never; }) | undefined;
} & { [K_7 in Exclude<keyof I["labels"][number], keyof ModelLabels>]: never; })[] & { [K_8 in Exclude<keyof I["labels"], keyof {
modelName?: string | undefined;
availableLabels?: string[] | undefined;
}[]>]: never; }) | undefined;
status?: ListAvailableModelsStatus | undefined;
} & { [K_9 in Exclude<keyof I, keyof ListAvailableModelsResponse>]: never; }>(object: I): ListAvailableModelsResponse;
};
export declare const ModelLabels: {
encode(message: ModelLabels, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ModelLabels;
fromJSON(object: any): ModelLabels;
toJSON(message: ModelLabels): unknown;
fromPartial<I extends {
modelName?: string | undefined;
availableLabels?: string[] | undefined;
} & {
modelName?: string | undefined;
availableLabels?: (string[] & string[] & { [K in Exclude<keyof I["availableLabels"], keyof string[]>]: never; }) | undefined;
} & { [K_1 in Exclude<keyof I, keyof ModelLabels>]: never; }>(object: I): ModelLabels;
};
export declare const NetworkComputeRequest: {
encode(message: NetworkComputeRequest, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): NetworkComputeRequest;
fromJSON(object: any): NetworkComputeRequest;
toJSON(message: NetworkComputeRequest): unknown;
fromPartial<I extends {
header?: {
requestTimestamp?: Date | undefined;
clientName?: string | undefined;
disableRpcLogging?: boolean | undefined;
} | undefined;
inputData?: {
imageSourceAndService?: {
imageSource?: string | undefined;
imageService?: string | undefined;
} | undefined;
image?: {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: import("./image").Image_Format | undefined;
pixelFormat?: import("./image").Image_PixelFormat | undefined;
} | undefined;
otherData?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
modelName?: string | undefined;
minConfidence?: number | undefined;
rotateImage?: NetworkComputeInputData_RotateImage | undefined;
} | undefined;
serverConfig?: {
serviceName?: string | 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;
inputData?: ({
imageSourceAndService?: {
imageSource?: string | undefined;
imageService?: string | undefined;
} | undefined;
image?: {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: import("./image").Image_Format | undefined;
pixelFormat?: import("./image").Image_PixelFormat | undefined;
} | undefined;
otherData?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
modelName?: string | undefined;
minConfidence?: number | undefined;
rotateImage?: NetworkComputeInputData_RotateImage | undefined;
} & {
imageSourceAndService?: ({
imageSource?: string | undefined;
imageService?: string | undefined;
} & {
imageSource?: string | undefined;
imageService?: string | undefined;
} & { [K_1 in Exclude<keyof I["inputData"]["imageSourceAndService"], keyof ImageSourceAndService>]: never; }) | undefined;
image?: ({
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: import("./image").Image_Format | undefined;
pixelFormat?: import("./image").Image_PixelFormat | undefined;
} & {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: import("./image").Image_Format | undefined;
pixelFormat?: import("./image").Image_PixelFormat | undefined;
} & { [K_2 in Exclude<keyof I["inputData"]["image"], keyof Image>]: never; }) | undefined;
otherData?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_3 in Exclude<keyof I["inputData"]["otherData"], keyof Any>]: never; }) | undefined;
modelName?: string | undefined;
minConfidence?: number | undefined;
rotateImage?: NetworkComputeInputData_RotateImage | undefined;
} & { [K_4 in Exclude<keyof I["inputData"], keyof NetworkComputeInputData>]: never; }) | undefined;
serverConfig?: ({
serviceName?: string | undefined;
} & {
serviceName?: string | undefined;
} & { [K_5 in Exclude<keyof I["serverConfig"], "serviceName">]: never; }) | undefined;
} & { [K_6 in Exclude<keyof I, keyof NetworkComputeRequest>]: never; }>(object: I): NetworkComputeRequest;
};
export declare const ImageSourceAndService: {
encode(message: ImageSourceAndService, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): ImageSourceAndService;
fromJSON(object: any): ImageSourceAndService;
toJSON(message: ImageSourceAndService): unknown;
fromPartial<I extends {
imageSource?: string | undefined;
imageService?: string | undefined;
} & {
imageSource?: string | undefined;
imageService?: string | undefined;
} & { [K in Exclude<keyof I, keyof ImageSourceAndService>]: never; }>(object: I): ImageSourceAndService;
};
export declare const NetworkComputeInputData: {
encode(message: NetworkComputeInputData, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): NetworkComputeInputData;
fromJSON(object: any): NetworkComputeInputData;
toJSON(message: NetworkComputeInputData): unknown;
fromPartial<I extends {
imageSourceAndService?: {
imageSource?: string | undefined;
imageService?: string | undefined;
} | undefined;
image?: {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: import("./image").Image_Format | undefined;
pixelFormat?: import("./image").Image_PixelFormat | undefined;
} | undefined;
otherData?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
modelName?: string | undefined;
minConfidence?: number | undefined;
rotateImage?: NetworkComputeInputData_RotateImage | undefined;
} & {
imageSourceAndService?: ({
imageSource?: string | undefined;
imageService?: string | undefined;
} & {
imageSource?: string | undefined;
imageService?: string | undefined;
} & { [K in Exclude<keyof I["imageSourceAndService"], keyof ImageSourceAndService>]: never; }) | undefined;
image?: ({
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: import("./image").Image_Format | undefined;
pixelFormat?: import("./image").Image_PixelFormat | undefined;
} & {
cols?: number | undefined;
rows?: number | undefined;
data?: Uint8Array | undefined;
format?: import("./image").Image_Format | undefined;
pixelFormat?: import("./image").Image_PixelFormat | undefined;
} & { [K_1 in Exclude<keyof I["image"], keyof Image>]: never; }) | undefined;
otherData?: ({
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} & { [K_2 in Exclude<keyof I["otherData"], keyof Any>]: never; }) | undefined;
modelName?: string | undefined;
minConfidence?: number | undefined;
rotateImage?: NetworkComputeInputData_RotateImage | undefined;
} & { [K_3 in Exclude<keyof I, keyof NetworkComputeInputData>]: never; }>(object: I): NetworkComputeInputData;
};
export declare const NetworkComputeServerConfiguration: {
encode(message: NetworkComputeServerConfiguration, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): NetworkComputeServerConfiguration;
fromJSON(object: any): NetworkComputeServerConfiguration;
toJSON(message: NetworkComputeServerConfiguration): unknown;
fromPartial<I extends {
serviceName?: string | undefined;
} & {
serviceName?: string | undefined;
} & { [K in Exclude<keyof I, "serviceName">]: never; }>(object: I): NetworkComputeServerConfiguration;
};
export declare const NetworkComputeResponse: {
encode(message: NetworkComputeResponse, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): NetworkComputeResponse;
fromJSON(object: any): NetworkComputeResponse;
toJSON(message: NetworkComputeResponse): 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;
objectInImage?: {
id?: number | undefined;
name?: string | 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;
} | undefined;
drawableProperties?: {
color?: {
r?: number | undefined;
g?: number | undefined;
b?: number | undefined;
a?: number | undefined;
} | undefined;
label?: string | undefined;
wireframe?: boolean | undefined;
frame?: {
arrowLength?: number | undefined;
arrowRadius?: number | undefined;
} | undefined;
sphere?: {
radius?: number | undefined;
} | undefined;
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
arrow?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
capsule?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
cylinder?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
linestrip?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
points?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
}[] | undefined;
} | undefined;
frameNameDrawable?: string | undefined;
}[] | undefined;
apriltagProperties?: {
tagId?: number | undefined;
dimensions?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
frameNameFiducial?: string | undefined;
fiducialPoseStatus?: import("./world_object").AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameFiducialFiltered?: string | undefined;
fiducialFilteredPoseStatus?: import("./world_object").AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameCamera?: string | undefined;
detectionCovariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
detectionCovarianceReferenceFrame?: string | undefined;
} | undefined;
imageProperties?: {
cameraSource?: string | undefined;
coordinates?: {
vertexes?: {
x?: number | undefined;
y?: number | undefined;
}[] | undefined;
} | undefined;
keypoints?: {
keypoints?: {
coordinates?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
binaryDescriptor?: Uint8Array | undefined;
score?: number | undefined;
size?: number | undefined;
angle?: number | undefined;
}[] | undefined;
type?: import("./sparse_features").KeypointSet_KeypointType | undefined;
} | undefined;
imageSource?: {
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?: import("./image").ImageSource_ImageType | undefined;
pixelFormats?: import("./image").Image_PixelFormat[] | undefined;
imageFormats?: import("./image").Image_Format[] | undefined;
} | undefined;
imageCapture?: {
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?: import("./image").Image_Format | undefined;
pixelFormat?: import("./image").Image_PixelFormat | undefined;
} | undefined;
captureParams?: {
exposureDuration?: {
seconds?: number | undefined;
nanos?: number | undefined;
} | undefined;
gain?: number | undefined;
} | undefined;
} | undefined;
frameNameImageCoordinates?: string | undefined;
} | undefined;
dockProperties?: {
dockId?: number | undefined;
type?: import("./docking/docking").DockType | undefined;
frameNameDock?: string | undefined;
unavailable?: boolean | undefined;
fromPrior?: boolean | undefined;
} | undefined;
rayProperties?: {
ray?: {
origin?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
frame?: string | undefined;
} | undefined;
boundingBoxProperties?: {
sizeEwrtFrame?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
frame?: string | undefined;
} | undefined;
additionalProperties?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
}[] | undefined;
imageResponse?: {
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?: import("./image").Image_Format | undefined;
pixelFormat?: import("./image").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?: import("./image").ImageSource_ImageType | undefined;
pixelFormats?: import("./image").Image_PixelFormat[] | undefined;
imageFormats?: import("./image").Image_Format[] | undefined;
} | undefined;
status?: import("./image").ImageResponse_Status | undefined;
} | undefined;
imageRotationAngle?: number | undefined;
otherData?: {
typeUrl?: string | undefined;
value?: Uint8Array | undefined;
} | undefined;
status?: NetworkComputeStatus | undefined;
alertData?: {
severity?: import("./alerts").AlertData_SeverityLevel | undefined;
title?: string | undefined;
source?: string | undefined;
additionalData?: {
[x: string]: any;
} | 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 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 Any>]: never; }) | undefined;
} & { [K_4 in Exclude<keyof I["header"], keyof ResponseHeader>]: never; }) | undefined;
objectInImage?: ({
id?: number | undefined;
name?: string | 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;
} | undefined;
drawableProperties?: {
color?: {
r?: number | undefined;
g?: number | undefined;
b?: number | undefined;
a?: number | undefined;
} | undefined;
label?: string | undefined;
wireframe?: boolean | undefined;
frame?: {
arrowLength?: number | undefined;
arrowRadius?: number | undefined;
} | undefined;
sphere?: {
radius?: number | undefined;
} | undefined;
box?: {
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
arrow?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
capsule?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
cylinder?: {
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} | undefined;
linestrip?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} | undefined;
points?: {
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
}[] | undefined;
} | undefined;
frameNameDrawable?: string | undefined;
}[] | undefined;
apriltagProperties?: {
tagId?: number | undefined;
dimensions?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
frameNameFiducial?: string | undefined;
fiducialPoseStatus?: import("./world_object").AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameFiducialFiltered?: string | undefined;
fiducialFilteredPoseStatus?: import("./world_object").AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameCamera?: string | undefined;
detectionCovariance?: {
matrix?: {
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} | undefined;
yawVariance?: number | undefined;
covXx?: number | undefined;
covXy?: number | undefined;
covXz?: number | undefined;
covYx?: number | undefined;
covYy?: number | undefined;
covYz?: number | undefined;
covZx?: number | undefined;
covZy?: number | undefined;
covZz?: number | undefined;
} | undefined;
detectionCovarianceReferenceFrame?: string | undefined;
} | undefined;
imageProperties?: {
cameraSource?: string | undefined;
coordinates?: {
vertexes?: {
x?: number | undefined;
y?: number | undefined;
}[] | undefined;
} | undefined;
keypoints?: {
keypoints?: {
coordinates?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
binaryDescriptor?: Uint8Array | undefined;
score?: number | undefined;
size?: number | undefined;
angle?: number | undefined;
}[] | undefined;
type?: import("./sparse_features").KeypointSet_KeypointType | undefined;
} | undefined;
imageSource?: {
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?: import("./image").ImageSource_ImageType | undefined;
pixelFormats?: import("./image").Image_PixelFormat[] | undefined;
imageFormats?: import("./image").Image_Format[] | undefined;
} | undefined;
imageCapture?: {
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?: import("./image").Image_Format | undefined;