spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
335 lines • 13.3 kB
TypeScript
import { Vec2, SE3Pose } from "../geometry";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api.spot_cam";
export interface Camera {
/** Identifier for the camera. */
name: string;
/** Resolution of the sensor, where x = width and y = height. */
resolution: Vec2 | undefined;
/**
* The frame name for the parent frame of this camera. This frame will show up in the FrameTreeSnapshot
* grabbed from the payload registration service.
*/
baseFrameName: string;
/**
* 'base_tfrom_sensor' defines the transform from the specific camera to the named base from.
* This is deprecated in favor of 'base_tform_sensor' which follows the intended naming convention
* and FrameTree directionality convention of the Spot system as defined in geometry.proto.
*
* @deprecated
*/
baseTfromSensor: SE3Pose | undefined;
/** The transform from the named base frame to this specific camera */
baseTformSensor: SE3Pose | undefined;
/** Physical cameras */
pinhole: Camera_PinholeIntrinsics | undefined;
/** Only synthetic spherical panoramas */
spherical: Camera_SphericalLimits | undefined;
}
export interface Camera_PinholeIntrinsics {
/** Focal_length in pixels */
focalLength: Vec2 | undefined;
/** Center point in pixels */
centerPoint: Vec2 | undefined;
/**
* The following 4 parameters are radial distortion coefficeints to 4 orders.
* See: https://en.wikipedia.org/wiki/Distortion_(optics)#Software_correction
* If all 4 of these values are 0, do not apply any correction.
*/
k1: number;
k2: number;
k3: number;
k4: number;
}
/**
* Spherical limits are the minimum and maximum angle of the image.
* IE the upper left pixel is at min_angle.x, min_angle.y
* and the lower right pixel is at max_angle.x, max_angle.y
* for a full-FOV image this will be (-180, 90) and (180, -90)
*/
export interface Camera_SphericalLimits {
minAngle: Vec2 | undefined;
maxAngle: Vec2 | undefined;
}
export declare const Camera: {
encode(message: Camera, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): Camera;
fromJSON(object: any): Camera;
toJSON(message: Camera): unknown;
fromPartial<I extends {
name?: string | undefined;
resolution?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
baseFrameName?: string | undefined;
baseTfromSensor?: {
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;
baseTformSensor?: {
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;
pinhole?: {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
centerPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
k1?: number | undefined;
k2?: number | undefined;
k3?: number | undefined;
k4?: number | undefined;
} | undefined;
spherical?: {
minAngle?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
maxAngle?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} | undefined;
} & {
name?: string | undefined;
resolution?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K in Exclude<keyof I["resolution"], keyof Vec2>]: never; }) | undefined;
baseFrameName?: string | undefined;
baseTfromSensor?: ({
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_1 in Exclude<keyof I["baseTfromSensor"]["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_2 in Exclude<keyof I["baseTfromSensor"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_3 in Exclude<keyof I["baseTfromSensor"], keyof SE3Pose>]: never; }) | undefined;
baseTformSensor?: ({
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_4 in Exclude<keyof I["baseTformSensor"]["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_5 in Exclude<keyof I["baseTformSensor"]["rotation"], keyof import("../geometry").Quaternion>]: never; }) | undefined;
} & { [K_6 in Exclude<keyof I["baseTformSensor"], keyof SE3Pose>]: never; }) | undefined;
pinhole?: ({
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
centerPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
k1?: number | undefined;
k2?: number | undefined;
k3?: number | undefined;
k4?: number | undefined;
} & {
focalLength?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_7 in Exclude<keyof I["pinhole"]["focalLength"], keyof Vec2>]: never; }) | undefined;
centerPoint?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_8 in Exclude<keyof I["pinhole"]["centerPoint"], keyof Vec2>]: never; }) | undefined;
k1?: number | undefined;
k2?: number | undefined;
k3?: number | undefined;
k4?: number | undefined;
} & { [K_9 in Exclude<keyof I["pinhole"], keyof Camera_PinholeIntrinsics>]: never; }) | undefined;
spherical?: ({
minAngle?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
maxAngle?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} & {
minAngle?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_10 in Exclude<keyof I["spherical"]["minAngle"], keyof Vec2>]: never; }) | undefined;
maxAngle?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_11 in Exclude<keyof I["spherical"]["maxAngle"], keyof Vec2>]: never; }) | undefined;
} & { [K_12 in Exclude<keyof I["spherical"], keyof Camera_SphericalLimits>]: never; }) | undefined;
} & { [K_13 in Exclude<keyof I, keyof Camera>]: never; }>(object: I): Camera;
};
export declare const Camera_PinholeIntrinsics: {
encode(message: Camera_PinholeIntrinsics, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): Camera_PinholeIntrinsics;
fromJSON(object: any): Camera_PinholeIntrinsics;
toJSON(message: Camera_PinholeIntrinsics): unknown;
fromPartial<I extends {
focalLength?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
centerPoint?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
k1?: number | undefined;
k2?: number | undefined;
k3?: number | undefined;
k4?: number | undefined;
} & {
focalLength?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K in Exclude<keyof I["focalLength"], keyof Vec2>]: never; }) | undefined;
centerPoint?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_1 in Exclude<keyof I["centerPoint"], keyof Vec2>]: never; }) | undefined;
k1?: number | undefined;
k2?: number | undefined;
k3?: number | undefined;
k4?: number | undefined;
} & { [K_2 in Exclude<keyof I, keyof Camera_PinholeIntrinsics>]: never; }>(object: I): Camera_PinholeIntrinsics;
};
export declare const Camera_SphericalLimits: {
encode(message: Camera_SphericalLimits, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): Camera_SphericalLimits;
fromJSON(object: any): Camera_SphericalLimits;
toJSON(message: Camera_SphericalLimits): unknown;
fromPartial<I extends {
minAngle?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
maxAngle?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
} & {
minAngle?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K in Exclude<keyof I["minAngle"], keyof Vec2>]: never; }) | undefined;
maxAngle?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_1 in Exclude<keyof I["maxAngle"], keyof Vec2>]: never; }) | undefined;
} & { [K_2 in Exclude<keyof I, keyof Camera_SphericalLimits>]: never; }>(object: I): Camera_SphericalLimits;
};
declare type Builtin = Date | Function | Uint8Array | string | number | boolean | undefined;
export declare type DeepPartial<T> = T extends Builtin ? T : T extends Array<infer U> ? Array<DeepPartial<U>> : T extends ReadonlyArray<infer U> ? ReadonlyArray<DeepPartial<U>> : T extends {} ? {
[K in keyof T]?: DeepPartial<T[K]>;
} : Partial<T>;
declare type KeysOfUnion<T> = T extends T ? keyof T : never;
export declare type Exact<P, I extends P> = P extends Builtin ? P : P & {
[K in keyof P]: Exact<P[K], I[K]>;
} & {
[K in Exclude<keyof I, KeysOfUnion<P>>]: never;
};
export {};
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