spot-sdk-ts
Version:
TypeScript bindings based on protobufs (proto3) provided by Boston Dynamics
1,150 lines • 396 kB
TypeScript
import { DockType } from "./docking/docking";
import { FrameTreeSnapshot, Polygon, Vec2, SE3Covariance, Ray, Vec3 } from "./geometry";
import { Any } from "../../google/protobuf/any";
import { RequestHeader, ResponseHeader } from "./header";
import { KeypointSet } from "./sparse_features";
import { ImageSource, ImageCapture } from "./image";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api";
/**
* A type for the world object, which is associated with whatever properties the world object includes. This can
* be used to request specific kinds of objects; for example, a request for only fiducials.
*/
export declare enum WorldObjectType {
WORLD_OBJECT_UNKNOWN = 0,
WORLD_OBJECT_DRAWABLE = 1,
WORLD_OBJECT_APRILTAG = 2,
WORLD_OBJECT_IMAGE_COORDINATES = 5,
WORLD_OBJECT_DOCK = 6,
UNRECOGNIZED = -1
}
export declare function worldObjectTypeFromJSON(object: any): WorldObjectType;
export declare function worldObjectTypeToJSON(object: WorldObjectType): string;
/**
* The world object message is used to describe different objects seen by a robot. It contains information
* about the properties of the object in addition to a unique id and the transform snapshot.
* The world object uses "properties" to describe different traits about the object, such as image coordinates
* associated with the camera the object was detected in. A world object can have multiple different properties
* that are all associated with the single object.
*/
export interface WorldObject {
/**
* Unique integer identifier that will be consistent for the duration of a robot's battery life
* The id is set internally by the world object service.
*/
id: number;
/**
* A human readable name for the world object. Note that this differs from any frame_name's associated
* with the object (since there can be multiple frames describing a single object).
*/
name: string;
/** Time in robot time clock at which this object was most recently detected and valid. */
acquisitionTime: Date | undefined;
/**
* A tree-based collection of transformations, which will include the transformations to each
* of the returned world objects in addition to transformations to the common frames ("vision",
* "body", "odom"). All transforms within the snapshot are at the acquisition time of the world object.
* Note that each object's frame names are defined within the properties submessage. For example,
* the apriltag frame name is defined in the AprilTagProperties message as "frame_name_fiducial"
*/
transformsSnapshot: FrameTreeSnapshot | undefined;
/** The drawable properties describe geometric shapes associated with an object. */
drawableProperties: DrawableProperties[];
/** The apriltag properties describe any fiducial identifying an object. */
apriltagProperties: AprilTagProperties | undefined;
/** The image properties describe any camera and image coordinates associated with an object. */
imageProperties: ImageProperties | undefined;
/** Properties describing a dock */
dockProperties: DockProperties | undefined;
/**
* A ray pointing at the object. Useful in cases where position is unknown but direction is
* known.
*/
rayProperties: RayProperties | undefined;
/** Bounding box in the world, oriented at the location provided in the transforms_snapshot. */
boundingBoxProperties: BoundingBoxProperties | undefined;
/** An extra field for application-specific object properties. */
additionalProperties: Any | undefined;
}
/** The ListWorldObject request message, which can optionally include filters for the object type or timestamp. */
export interface ListWorldObjectRequest {
/** Common request header */
header: RequestHeader | undefined;
/**
* Optional filters to apply to the world object request
* Specific type of object; can request multiple different properties
*/
objectType: WorldObjectType[];
/**
* Timestamp to filter objects based on. The time should be in robot time
* All objects with header timestamps after (>) timestamp_filter will be returned
*/
timestampFilter: Date | undefined;
}
/**
* The ListWorldObject response message, which contains all of the current world objects in the
* robot's perception scene.
*/
export interface ListWorldObjectResponse {
/** Common response header */
header: ResponseHeader | undefined;
/** The currently perceived world objects. */
worldObjects: WorldObject[];
}
/**
* The MutateWorldObject request message, which specifies the type of mutation and which object
* the mutation should be applied to.
*/
export interface MutateWorldObjectRequest {
/** Common request header */
header: RequestHeader | undefined;
/** The mutation for this request. */
mutation: MutateWorldObjectRequest_Mutation | undefined;
}
export declare enum MutateWorldObjectRequest_Action {
/** ACTION_UNKNOWN - Invalid action. */
ACTION_UNKNOWN = 0,
/** ACTION_ADD - Add a new object. */
ACTION_ADD = 1,
/**
* ACTION_CHANGE - Change an existing objected (ID'd by integer ID number). This is
* only allowed to change objects added by the API-user, and not
* objects detected by Spot's perception system.
*/
ACTION_CHANGE = 2,
/**
* ACTION_DELETE - Delete the object, ID'd by integer ID number. This is
* only allowed to change objects added by the API-user, and not
* objects detected by Spot's perception system.
*/
ACTION_DELETE = 3,
UNRECOGNIZED = -1
}
export declare function mutateWorldObjectRequest_ActionFromJSON(object: any): MutateWorldObjectRequest_Action;
export declare function mutateWorldObjectRequest_ActionToJSON(object: MutateWorldObjectRequest_Action): string;
export interface MutateWorldObjectRequest_Mutation {
/** The action (add, change, or delete) to be applied to a world object. */
action: MutateWorldObjectRequest_Action;
/**
* World object to be mutated.
* If an object is being changed/deleted, then the world object id must match a world
* object id known by the service.
*/
object: WorldObject | undefined;
}
/**
* The MutateWorldObject response message, which includes the world object id for the object that
* the mutation was applied to if the request succeeds.
*/
export interface MutateWorldObjectResponse {
/** Common response header */
header: ResponseHeader | undefined;
/** Return status for the request. */
status: MutateWorldObjectResponse_Status;
/** ID set by the world object service for the mutated object */
mutatedObjectId: number;
}
export declare enum MutateWorldObjectResponse_Status {
/** STATUS_UNKNOWN - Status of request is unknown. Check the status code of the response header. */
STATUS_UNKNOWN = 0,
/** STATUS_OK - Request was accepted; GetObjectListResponse must still be checked to verify the changes. */
STATUS_OK = 1,
/**
* STATUS_INVALID_MUTATION_ID - The mutation object's ID is unknown such that the service could not recognize this object.
* This error applies to the CHANGE and DELETE actions, since it must identify the object by
* it's id number given by the service.
*/
STATUS_INVALID_MUTATION_ID = 2,
/**
* STATUS_NO_PERMISSION - The mutation request is not allowed because it is attempting to change or delete an object
* detected by Spot's perception system.
*/
STATUS_NO_PERMISSION = 3,
UNRECOGNIZED = -1
}
export declare function mutateWorldObjectResponse_StatusFromJSON(object: any): MutateWorldObjectResponse_Status;
export declare function mutateWorldObjectResponse_StatusToJSON(object: MutateWorldObjectResponse_Status): string;
/** World object properties describing image coordinates associated with an object or scene. */
export interface ImageProperties {
/** Camera Source of such as "back", "frontleft", etc. */
cameraSource: string;
/**
* Image coordinates of the corners of a polygon (pixels of x[row], y[col]) in either
* clockwise/counter clockwise order
*/
coordinates: Polygon | undefined;
/** A set of keypoints and their associated metadata. */
keypoints: KeypointSet | undefined;
/** Camera parameters. */
imageSource: ImageSource | undefined;
/** Image that produced the data. */
imageCapture: ImageCapture | undefined;
/** Frame name for the object described by image coordinates. */
frameNameImageCoordinates: string;
}
/** World object properties describing a dock */
export interface DockProperties {
/** Consistent id associated with a given dock. */
dockId: number;
/** Type of dock. */
type: DockType;
/** The frame name for the location of dock origin. This will be included in the transform snapshot. */
frameNameDock: string;
/** Availability if the dock can be used */
unavailable: boolean;
/** The dock is an unconfirmed prior detection */
fromPrior: boolean;
}
/** World object properties describing a fiducial object. */
export interface AprilTagProperties {
/**
* Consistent integer id associated with a given apriltag. April Tag detections will be from the
* tag family 36h11.
*/
tagId: number;
/**
* Apriltag size in meters, where x is the row/width length and y is the
* height/col length of the tag
*/
dimensions: Vec2 | undefined;
/** The frame name for the raw version of this fiducial. This will be included in the transform snapshot. */
frameNameFiducial: string;
/** Status of the pose estimation of the unfiltered fiducial frame. */
fiducialPoseStatus: AprilTagProperties_AprilTagPoseStatus;
/** The frame name for the filtered version of this fiducial. This will be included in the transform snapshot. */
frameNameFiducialFiltered: string;
/** Status of the pose estimation of the filtered fiducial frame. */
fiducialFilteredPoseStatus: AprilTagProperties_AprilTagPoseStatus;
/** The frame name for the camera that detected this fiducial. */
frameNameCamera: string;
/**
* A 6 x 6 Covariance matrix representing the marginal uncertainty of the last detection.
* The rows/columns are:
* rx, ry, rz, tx, ty, tz
* which represent incremental rotation and translation along the x, y, and z axes of the
* given frame, respectively.
* This is computed using the Jacobian of the pose estimation algorithm.
*/
detectionCovariance: SE3Covariance | undefined;
/** The frame that the detection covariance is expressed in. */
detectionCovarianceReferenceFrame: string;
}
export declare enum AprilTagProperties_AprilTagPoseStatus {
STATUS_UNKNOWN = 0,
/** STATUS_OK - No known issues with the pose estimate. */
STATUS_OK = 1,
/** STATUS_AMBIGUOUS - The orientation of the tag is ambiguous. */
STATUS_AMBIGUOUS = 2,
/** STATUS_HIGH_ERROR - The pose may be unreliable due to high reprojection error. */
STATUS_HIGH_ERROR = 3,
UNRECOGNIZED = -1
}
export declare function aprilTagProperties_AprilTagPoseStatusFromJSON(object: any): AprilTagProperties_AprilTagPoseStatus;
export declare function aprilTagProperties_AprilTagPoseStatusToJSON(object: AprilTagProperties_AprilTagPoseStatus): string;
export interface RayProperties {
/** Ray, usually pointing from the camera to the object. */
ray: Ray | undefined;
/** Frame the ray is expressed with respect to. */
frame: string;
}
export interface BoundingBoxProperties {
/**
* An Oriented Bounding Box, with position and orientation at the frame provided in the
* transforms snapshot.
*
* The size of the box is expressed with respect to the frame.
*/
sizeEwrtFrame: Vec3 | undefined;
/** Frame the size is expressed with respect to. */
frame: string;
}
/** The drawing and visualization information for a world object. */
export interface DrawableProperties {
/** Color of the object. */
color: DrawableProperties_Color | undefined;
/** Label to be drawn at the origin of the object. */
label: string;
/** Drawn objects in wireframe. */
wireframe: boolean;
/** A drawable frame (oneof drawable field). */
frame: DrawableFrame | undefined;
/** A drawable sphere (oneof drawable field). */
sphere: DrawableSphere | undefined;
/** A drawable box (oneof drawable field). */
box: DrawableBox | undefined;
/** A drawable arrow (oneof drawable field). */
arrow: DrawableArrow | undefined;
/** A drawable capsule (oneof drawable field). */
capsule: DrawableCapsule | undefined;
/** A drawable cylinder (oneof drawable field). */
cylinder: DrawableCylinder | undefined;
/** A drawable linestrip (oneof drawable field). */
linestrip: DrawableLineStrip | undefined;
/** A drawable set of points (oneof drawable field). */
points: DrawablePoints | undefined;
/**
* The frame name for the drawable object. This will optionally be
* included in the frame tree snapshot.
*/
frameNameDrawable: string;
}
/** RGBA values for color ranging from [0,255] for R/G/B, and [0,1] for A. */
export interface DrawableProperties_Color {
/** Red value ranging from [0,255]. */
r: number;
/** / Green value ranging from [0,255]. */
g: number;
/** Blue value ranging from [0,255]. */
b: number;
/** Alpha (transparency) value ranging from [0,1]. */
a: number;
}
/** A coordinate frame drawing object, describing how large to render the arrows. */
export interface DrawableFrame {
arrowLength: number;
arrowRadius: number;
}
/** A sphere drawing object. */
export interface DrawableSphere {
radius: number;
}
/** A three dimensional box drawing object. */
export interface DrawableBox {
size: Vec3 | undefined;
}
/** A directed arrow drawing object. */
export interface DrawableArrow {
direction: Vec3 | undefined;
radius: number;
}
/** A oval-like capsule drawing object. */
export interface DrawableCapsule {
direction: Vec3 | undefined;
radius: number;
}
/** A cylinder drawing object. */
export interface DrawableCylinder {
direction: Vec3 | undefined;
radius: number;
}
/** A line strip drawing object. */
export interface DrawableLineStrip {
points: Vec3 | undefined;
}
/** A set of points drawing object. */
export interface DrawablePoints {
points: Vec3[];
}
export declare const WorldObject: {
encode(message: WorldObject, writer?: _m0.Writer): _m0.Writer;
decode(input: _m0.Reader | Uint8Array, length?: number): WorldObject;
fromJSON(object: any): WorldObject;
toJSON(message: WorldObject): unknown;
fromPartial<I extends {
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?: AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameFiducialFiltered?: string | undefined;
fiducialFilteredPoseStatus?: 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?: 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;
} & {
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;
} & {
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 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;
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;
}[] & ({
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;
} & {
color?: ({
r?: number | undefined;
g?: number | undefined;
b?: number | undefined;
a?: number | undefined;
} & {
r?: number | undefined;
g?: number | undefined;
b?: number | undefined;
a?: number | undefined;
} & { [K_6 in Exclude<keyof I["drawableProperties"][number]["color"], keyof DrawableProperties_Color>]: never; }) | undefined;
label?: string | undefined;
wireframe?: boolean | undefined;
frame?: ({
arrowLength?: number | undefined;
arrowRadius?: number | undefined;
} & {
arrowLength?: number | undefined;
arrowRadius?: number | undefined;
} & { [K_7 in Exclude<keyof I["drawableProperties"][number]["frame"], keyof DrawableFrame>]: never; }) | undefined;
sphere?: ({
radius?: number | undefined;
} & {
radius?: number | undefined;
} & { [K_8 in Exclude<keyof I["drawableProperties"][number]["sphere"], "radius">]: never; }) | undefined;
box?: ({
size?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
size?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_9 in Exclude<keyof I["drawableProperties"][number]["box"]["size"], keyof Vec3>]: never; }) | undefined;
} & { [K_10 in Exclude<keyof I["drawableProperties"][number]["box"], "size">]: never; }) | undefined;
arrow?: ({
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} & {
direction?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_11 in Exclude<keyof I["drawableProperties"][number]["arrow"]["direction"], keyof Vec3>]: never; }) | undefined;
radius?: number | undefined;
} & { [K_12 in Exclude<keyof I["drawableProperties"][number]["arrow"], keyof DrawableArrow>]: never; }) | undefined;
capsule?: ({
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} & {
direction?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_13 in Exclude<keyof I["drawableProperties"][number]["capsule"]["direction"], keyof Vec3>]: never; }) | undefined;
radius?: number | undefined;
} & { [K_14 in Exclude<keyof I["drawableProperties"][number]["capsule"], keyof DrawableCapsule>]: never; }) | undefined;
cylinder?: ({
direction?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
radius?: number | undefined;
} & {
direction?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_15 in Exclude<keyof I["drawableProperties"][number]["cylinder"]["direction"], keyof Vec3>]: never; }) | undefined;
radius?: number | undefined;
} & { [K_16 in Exclude<keyof I["drawableProperties"][number]["cylinder"], keyof DrawableCylinder>]: never; }) | undefined;
linestrip?: ({
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} | undefined;
} & {
points?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_17 in Exclude<keyof I["drawableProperties"][number]["linestrip"]["points"], keyof Vec3>]: never; }) | undefined;
} & { [K_18 in Exclude<keyof I["drawableProperties"][number]["linestrip"], "points">]: never; }) | undefined;
points?: ({
points?: {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
}[] | undefined;
} & {
points?: ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
}[] & ({
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
} & { [K_19 in Exclude<keyof I["drawableProperties"][number]["points"]["points"][number], keyof Vec3>]: never; })[] & { [K_20 in Exclude<keyof I["drawableProperties"][number]["points"]["points"], keyof {
x?: number | undefined;
y?: number | undefined;
z?: number | undefined;
}[]>]: never; }) | undefined;
} & { [K_21 in Exclude<keyof I["drawableProperties"][number]["points"], "points">]: never; }) | undefined;
frameNameDrawable?: string | undefined;
} & { [K_22 in Exclude<keyof I["drawableProperties"][number], keyof DrawableProperties>]: never; })[] & { [K_23 in Exclude<keyof I["drawableProperties"], keyof {
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;
}[]>]: never; }) | undefined;
apriltagProperties?: ({
tagId?: number | undefined;
dimensions?: {
x?: number | undefined;
y?: number | undefined;
} | undefined;
frameNameFiducial?: string | undefined;
fiducialPoseStatus?: AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameFiducialFiltered?: string | undefined;
fiducialFilteredPoseStatus?: 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;
} & {
tagId?: number | undefined;
dimensions?: ({
x?: number | undefined;
y?: number | undefined;
} & {
x?: number | undefined;
y?: number | undefined;
} & { [K_24 in Exclude<keyof I["apriltagProperties"]["dimensions"], keyof Vec2>]: never; }) | undefined;
frameNameFiducial?: string | undefined;
fiducialPoseStatus?: AprilTagProperties_AprilTagPoseStatus | undefined;
frameNameFiducialFiltered?: string | undefined;
fiducialFilteredPoseStatus?: 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;
} & {
matrix?: ({
rows?: number | undefined;
cols?: number | undefined;
values?: number[] | undefined;
} & {
rows?: number | undefined;
cols?: number | undefined;
values?: (number[] & number[] & { [K_25 in Exclude<keyof I["apriltagProperties"]["detectionCovariance"]["matrix"]["values"], keyof number[]>]: never; }) | undefined;
} & { [K_26 in Exclude<keyof I["apriltagProperties"]["detectionCovariance"]["matrix"], keyof import("./geometry").Matrix>]: never; }) | 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;
} & { [K_27 in Exclude<keyof I["apriltagProperties"]["detectionCovariance"], keyof SE3Covariance>]: never; }) | undefined;
detectionCovarianceReferenceFrame?: string | undefined;
} & { [K_28 in Exclude<keyof I["apriltagProperties"], keyof AprilTagProperties>]: never; }) | 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 |