This module contains the definitions of the well-known Foxglove schemas for logging.

Log messages to a corresponding channel type from foxglove.channels.

class foxglove.schemas.ArrowPrimitive(*, pose=None, shaft_length=0.0, shaft_diameter=0.0, head_length=0.0, head_diameter=0.0, color=None)

A primitive representing an arrow

Parameters:

• pose – Position of the arrow’s tail and orientation of the arrow. Identity orientation means the arrow points in the +x direction.

• shaft_length – Length of the arrow shaft

• shaft_diameter – Diameter of the arrow shaft

• head_length – Length of the arrow head

• head_diameter – Diameter of the arrow head

• color – Color of the arrow

See https://docs.foxglove.dev/docs/visualization/message-schemas/arrow-primitive

class foxglove.schemas.CameraCalibration(*, timestamp=None, frame_id=Ellipsis, width=0, height=0, distortion_model=Ellipsis, D=Ellipsis, K=Ellipsis, R=Ellipsis, P=Ellipsis)

Camera calibration parameters

Parameters:

• timestamp – Timestamp of calibration data

• frame_id – Frame of reference for the camera. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.

• width – Image width

• height – Image height

• distortion_model – Name of distortion model

• D – Distortion parameters

• K – Intrinsic camera matrix (3x3 row-major matrix)

• R – Rectification matrix (stereo cameras only, 3x3 row-major matrix)

• P – Projection/camera matrix (3x4 row-major matrix)

See https://docs.foxglove.dev/docs/visualization/message-schemas/camera-calibration

class foxglove.schemas.CircleAnnotation(*, timestamp=None, position=None, diameter=0.0, thickness=0.0, fill_color=None, outline_color=None)

A circle annotation on a 2D image

Parameters:

• timestamp – Timestamp of circle

• position – Center of the circle in 2D image coordinates (pixels).

• diameter – Circle diameter in pixels

• thickness – Line thickness in pixels

• fill_color – Fill color

• outline_color – Outline color

See https://docs.foxglove.dev/docs/visualization/message-schemas/circle-annotation

class foxglove.schemas.Color(*, r=0.0, g=0.0, b=0.0, a=0.0)

A color in RGBA format

Parameters:

• r – Red value between 0 and 1

• g – Green value between 0 and 1

• b – Blue value between 0 and 1

• a – Alpha value between 0 and 1

See https://docs.foxglove.dev/docs/visualization/message-schemas/color

class foxglove.schemas.CompressedImage(*, timestamp=None, frame_id=Ellipsis, data=None, format=Ellipsis)

A compressed image

Parameters:

• timestamp – Timestamp of image

• frame_id – Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.

• data – Compressed image data

• format – Image format

See https://docs.foxglove.dev/docs/visualization/message-schemas/compressed-image

class foxglove.schemas.CompressedVideo(*, timestamp=None, frame_id=Ellipsis, data=None, format=Ellipsis)

A single frame of a compressed video bitstream

Parameters:

• timestamp – Timestamp of video frame

• frame_id – Frame of reference for the video.

• data – Compressed video frame data.

• format – Video format.

See https://docs.foxglove.dev/docs/visualization/message-schemas/compressed-video

class foxglove.schemas.CubePrimitive(*, pose=None, size=None, color=None)

A primitive representing a cube or rectangular prism

Parameters:

• pose – Position of the center of the cube and orientation of the cube

• size – Size of the cube along each axis

• color – Color of the cube

See https://docs.foxglove.dev/docs/visualization/message-schemas/cube-primitive

class foxglove.schemas.CylinderPrimitive(*, pose=None, size=None, bottom_scale=0.0, top_scale=0.0, color=None)

A primitive representing a cylinder, elliptic cylinder, or truncated cone

Parameters:

• pose – Position of the center of the cylinder and orientation of the cylinder. The flat face(s) are perpendicular to the z-axis.

• size – Size of the cylinder’s bounding box

• bottom_scale – 0-1, ratio of the diameter of the cylinder’s bottom face (min z) to the bottom of the bounding box

• top_scale – 0-1, ratio of the diameter of the cylinder’s top face (max z) to the top of the bounding box

• color – Color of the cylinder

See https://docs.foxglove.dev/docs/visualization/message-schemas/cylinder-primitive

class foxglove.schemas.Duration(sec, nsec=None)

A duration, composed of seconds and nanoseconds

Parameters:

• sec – The number of seconds in the duration.

• nsec – The number of nanoseconds in the positive direction.

static from_secs(secs)

Creates a Duration from seconds.

Raises OverflowError if the duration cannot be represented.

Parameters:

secs – Seconds

Return type:

Duration

static from_timedelta(td)

Creates a Duration from a timedelta.

Raises OverflowError if the duration cannot be represented.

Parameters:

td – Timedelta

Return type:

Duration

nsec

The number of fractional seconds in the duration, as nanoseconds.

sec

The number of seconds in the duration.

class foxglove.schemas.FrameTransform(*, timestamp=None, parent_frame_id=Ellipsis, child_frame_id=Ellipsis, translation=None, rotation=None)

A transform between two reference frames in 3D space

Parameters:

• timestamp – Timestamp of transform

• parent_frame_id – Name of the parent frame

• child_frame_id – Name of the child frame

• translation – Translation component of the transform

• rotation – Rotation component of the transform

See https://docs.foxglove.dev/docs/visualization/message-schemas/frame-transform

class foxglove.schemas.FrameTransforms(*, transforms=Ellipsis)

An array of FrameTransform messages

Parameters:

transforms – Array of transforms

See https://docs.foxglove.dev/docs/visualization/message-schemas/frame-transforms

class foxglove.schemas.GeoJson(*, geojson=Ellipsis)

GeoJSON data for annotating maps

Parameters:

geojson – GeoJSON data encoded as a UTF-8 string

See https://docs.foxglove.dev/docs/visualization/message-schemas/geo-json

class foxglove.schemas.Grid(*, timestamp=None, frame_id=Ellipsis, pose=None, column_count=0, cell_size=None, row_stride=0, cell_stride=0, fields=Ellipsis, data=None)

A 2D grid of data

Parameters:

• timestamp – Timestamp of grid

• frame_id – Frame of reference

• pose – Origin of grid’s corner relative to frame of reference; grid is positioned in the x-y plane relative to this origin

• column_count – Number of grid columns

• cell_size – Size of single grid cell along x and y axes, relative to pose

• row_stride – Number of bytes between rows in data

• cell_stride – Number of bytes between cells within a row in data

• fields – Fields in data. red, green, blue, and alpha are optional for customizing the grid’s color.

• data – Grid cell data, interpreted using fields, in row-major (y-major) order

See https://docs.foxglove.dev/docs/visualization/message-schemas/grid

class foxglove.schemas.ImageAnnotations(*, circles=Ellipsis, points=Ellipsis, texts=Ellipsis)

Array of annotations for a 2D image

Parameters:

• circles – Circle annotations

• points – Points annotations

• texts – Text annotations

See https://docs.foxglove.dev/docs/visualization/message-schemas/image-annotations

class foxglove.schemas.KeyValuePair(*, key=Ellipsis, value=Ellipsis)

A key with its associated value

Parameters:

• key – Key

• value – Value

See https://docs.foxglove.dev/docs/visualization/message-schemas/key-value-pair

class foxglove.schemas.LaserScan(*, timestamp=None, frame_id=Ellipsis, pose=None, start_angle=0.0, end_angle=0.0, ranges=Ellipsis, intensities=Ellipsis)

A single scan from a planar laser range-finder

Parameters:

• timestamp – Timestamp of scan

• frame_id – Frame of reference

• pose – Origin of scan relative to frame of reference; points are positioned in the x-y plane relative to this origin; angles are interpreted as counterclockwise rotations around the z axis with 0 rad being in the +x direction

• start_angle – Bearing of first point, in radians

• end_angle – Bearing of last point, in radians

• ranges – Distance of detections from origin; assumed to be at equally-spaced angles between start_angle and end_angle

• intensities – Intensity of detections

See https://docs.foxglove.dev/docs/visualization/message-schemas/laser-scan

class foxglove.schemas.LinePrimitive(*, type=Ellipsis, pose=None, thickness=0.0, scale_invariant=False, points=Ellipsis, color=None, colors=Ellipsis, indices=Ellipsis)

A primitive representing a series of points connected by lines

Parameters:

• r#type – Drawing primitive to use for lines

• pose – Origin of lines relative to reference frame

• thickness – Line thickness

• scale_invariant – Indicates whether thickness is a fixed size in screen pixels (true), or specified in world coordinates and scales with distance from the camera (false)

• points – Points along the line

• color – Solid color to use for the whole line. One of color or colors must be provided.

• colors – Per-point colors (if specified, must have the same length as points). One of color or colors must be provided.

• indices – Indices into the points and colors attribute arrays, which can be used to avoid duplicating attribute data.

See https://docs.foxglove.dev/docs/visualization/message-schemas/line-primitive

class foxglove.schemas.LinePrimitiveLineType

An enumeration indicating how input points should be interpreted to create lines

class foxglove.schemas.LocationFix(*, timestamp=None, frame_id=Ellipsis, latitude=0.0, longitude=0.0, altitude=0.0, position_covariance=Ellipsis, position_covariance_type=Ellipsis)

A navigation satellite fix for any Global Navigation Satellite System

Parameters:

• timestamp – Timestamp of the message

• frame_id – Frame for the sensor. Latitude and longitude readings are at the origin of the frame.

• latitude – Latitude in degrees

• longitude – Longitude in degrees

• altitude – Altitude in meters

• position_covariance – Position covariance (m^2) defined relative to a tangential plane through the reported position. The components are East, North, and Up (ENU), in row-major order.

• position_covariance_type – If position_covariance is available, position_covariance_type must be set to indicate the type of covariance.

See https://docs.foxglove.dev/docs/visualization/message-schemas/location-fix

class foxglove.schemas.LocationFixPositionCovarianceType

Type of position covariance

class foxglove.schemas.Log(*, timestamp=None, level=Ellipsis, message=Ellipsis, name=Ellipsis, file=Ellipsis, line=0)

A log message

Parameters:

• timestamp – Timestamp of log message

• level – Log level

• message – Log message

• name – Process or node name

• file – Filename

• line – Line number in the file

See https://docs.foxglove.dev/docs/visualization/message-schemas/log

class foxglove.schemas.LogLevel

Log level

class foxglove.schemas.ModelPrimitive(*, pose=None, scale=None, color=None, override_color=False, url=Ellipsis, media_type=Ellipsis, data=None)

A primitive representing a 3D model file loaded from an external URL or embedded data

Parameters:

• pose – Origin of model relative to reference frame

• scale – Scale factor to apply to the model along each axis

• color – Solid color to use for the whole model if override_color is true.

• override_color – Whether to use the color specified in color instead of any materials embedded in the original model.

• url – URL pointing to model file. One of url or data should be provided.

• media_type – [Media type](https://developer.mozilla.org/en-US/docs/Web/HTTP/Basics_of_HTTP/MIME_types) of embedded model (e.g. model/gltf-binary). Required if data is provided instead of url. Overrides the inferred media type if url is provided.

• data – Embedded model. One of url or data should be provided. If data is provided, media_type must be set to indicate the type of the data.

See https://docs.foxglove.dev/docs/visualization/message-schemas/model-primitive

class foxglove.schemas.PackedElementField(*, name=Ellipsis, offset=0, type=Ellipsis)

A field present within each element in a byte array of packed elements.

Parameters:

• name – Name of the field

• offset – Byte offset from start of data buffer

• r#type – Type of data in the field. Integers are stored using little-endian byte order.

See https://docs.foxglove.dev/docs/visualization/message-schemas/packed-element-field

class foxglove.schemas.PackedElementFieldNumericType

Numeric type

class foxglove.schemas.Point2(*, x=0.0, y=0.0)

A point representing a position in 2D space

Parameters:

• x – x coordinate position

• y – y coordinate position

See https://docs.foxglove.dev/docs/visualization/message-schemas/point2

class foxglove.schemas.Point3(*, x=0.0, y=0.0, z=0.0)

A point representing a position in 3D space

Parameters:

• x – x coordinate position

• y – y coordinate position

• z – z coordinate position

See https://docs.foxglove.dev/docs/visualization/message-schemas/point3

class foxglove.schemas.PointCloud(*, timestamp=None, frame_id=Ellipsis, pose=None, point_stride=0, fields=Ellipsis, data=None)

A collection of N-dimensional points, which may contain additional fields with information like normals, intensity, etc.

Parameters:

• timestamp – Timestamp of point cloud

• frame_id – Frame of reference

• pose – The origin of the point cloud relative to the frame of reference

• point_stride – Number of bytes between points in the data

• fields – Fields in data. At least 2 coordinate fields from x, y, and z are required for each point’s position; red, green, blue, and alpha are optional for customizing each point’s color.

• data – Point data, interpreted using fields

See https://docs.foxglove.dev/docs/visualization/message-schemas/point-cloud

class foxglove.schemas.PointsAnnotation(*, timestamp=None, type=Ellipsis, points=Ellipsis, outline_color=None, outline_colors=Ellipsis, fill_color=None, thickness=0.0)

An array of points on a 2D image

Parameters:

• timestamp – Timestamp of annotation

• r#type – Type of points annotation to draw

• points – Points in 2D image coordinates (pixels).

• outline_color – Outline color

• outline_colors – Per-point colors, if type is POINTS, or per-segment stroke colors, if type is LINE_LIST, LINE_STRIP or LINE_LOOP.

• fill_color – Fill color

• thickness – Stroke thickness in pixels

See https://docs.foxglove.dev/docs/visualization/message-schemas/points-annotation

class foxglove.schemas.PointsAnnotationType

Type of points annotation

class foxglove.schemas.Pose(*, position=None, orientation=None)

A position and orientation for an object or reference frame in 3D space

Parameters:

• position – Point denoting position in 3D space

• orientation – Quaternion denoting orientation in 3D space

See https://docs.foxglove.dev/docs/visualization/message-schemas/pose

class foxglove.schemas.PoseInFrame(*, timestamp=None, frame_id=Ellipsis, pose=None)

A timestamped pose for an object or reference frame in 3D space

Parameters:

• timestamp – Timestamp of pose

• frame_id – Frame of reference for pose position and orientation

• pose – Pose in 3D space

See https://docs.foxglove.dev/docs/visualization/message-schemas/pose-in-frame

class foxglove.schemas.PosesInFrame(*, timestamp=None, frame_id=Ellipsis, poses=Ellipsis)

An array of timestamped poses for an object or reference frame in 3D space

Parameters:

• timestamp – Timestamp of pose

• frame_id – Frame of reference for pose position and orientation

• poses – Poses in 3D space

See https://docs.foxglove.dev/docs/visualization/message-schemas/poses-in-frame

class foxglove.schemas.Quaternion(*, x=0.0, y=0.0, z=0.0, w=0.0)

A [quaternion](https://eater.net/quaternions) representing a rotation in 3D space

Parameters:

• x – x value

• y – y value

• z – z value

• w – w value

See https://docs.foxglove.dev/docs/visualization/message-schemas/quaternion

class foxglove.schemas.RawAudio(*, timestamp=None, data=None, format=Ellipsis, sample_rate=0, number_of_channels=0)

A single block of an audio bitstream

Parameters:

• timestamp – Timestamp of the start of the audio block

• data – Audio data. The samples in the data must be interleaved and little-endian

• format – Audio format. Only ‘pcm-s16’ is currently supported

• sample_rate – Sample rate in Hz

• number_of_channels – Number of channels in the audio block

See https://docs.foxglove.dev/docs/visualization/message-schemas/raw-audio

class foxglove.schemas.RawImage(*, timestamp=None, frame_id=Ellipsis, width=0, height=0, encoding=Ellipsis, step=0, data=None)

A raw image

Parameters:

• timestamp – Timestamp of image

• frame_id – Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.

• width – Image width

• height – Image height

• encoding – Encoding of the raw image data

• step – Byte length of a single row

• data – Raw image data

See https://docs.foxglove.dev/docs/visualization/message-schemas/raw-image

class foxglove.schemas.SceneEntity(*, timestamp=None, frame_id=Ellipsis, id=Ellipsis, lifetime=None, frame_locked=False, metadata=Ellipsis, arrows=Ellipsis, cubes=Ellipsis, spheres=Ellipsis, cylinders=Ellipsis, lines=Ellipsis, triangles=Ellipsis, texts=Ellipsis, models=Ellipsis)

A visual element in a 3D scene. An entity may be composed of multiple primitives which all share the same frame of reference.

Parameters:

• timestamp – Timestamp of the entity

• frame_id – Frame of reference

• id – Identifier for the entity. A entity will replace any prior entity on the same topic with the same id.

• lifetime – Length of time (relative to timestamp) after which the entity should be automatically removed. Zero value indicates the entity should remain visible until it is replaced or deleted.

• frame_locked – Whether the entity should keep its location in the fixed frame (false) or follow the frame specified in frame_id as it moves relative to the fixed frame (true)

• metadata – Additional user-provided metadata associated with the entity. Keys must be unique.

• arrows – Arrow primitives

• cubes – Cube primitives

• spheres – Sphere primitives

• cylinders – Cylinder primitives

• lines – Line primitives

• triangles – Triangle list primitives

• texts – Text primitives

• models – Model primitives

See https://docs.foxglove.dev/docs/visualization/message-schemas/scene-entity

class foxglove.schemas.SceneEntityDeletion(*, timestamp=None, type=Ellipsis, id=Ellipsis)

Command to remove previously published entities

Parameters:

• timestamp – Timestamp of the deletion. Only matching entities earlier than this timestamp will be deleted.

• r#type – Type of deletion action to perform

• id – Identifier which must match if type is MATCHING_ID.

See https://docs.foxglove.dev/docs/visualization/message-schemas/scene-entity-deletion

class foxglove.schemas.SceneEntityDeletionType

An enumeration indicating which entities should match a SceneEntityDeletion command

class foxglove.schemas.SceneUpdate(*, deletions=Ellipsis, entities=Ellipsis)

An update to the entities displayed in a 3D scene

Parameters:

• deletions – Scene entities to delete

• entities – Scene entities to add or replace

See https://docs.foxglove.dev/docs/visualization/message-schemas/scene-update

class foxglove.schemas.SpherePrimitive(*, pose=None, size=None, color=None)

A primitive representing a sphere or ellipsoid

Parameters:

• pose – Position of the center of the sphere and orientation of the sphere

• size – Size (diameter) of the sphere along each axis

• color – Color of the sphere

See https://docs.foxglove.dev/docs/visualization/message-schemas/sphere-primitive

class foxglove.schemas.TextAnnotation(*, timestamp=None, position=None, text=Ellipsis, font_size=0.0, text_color=None, background_color=None)

A text label on a 2D image

Parameters:

• timestamp – Timestamp of annotation

• position – Bottom-left origin of the text label in 2D image coordinates (pixels).

• text – Text to display

• font_size – Font size in pixels

• text_color – Text color

• background_color – Background fill color

See https://docs.foxglove.dev/docs/visualization/message-schemas/text-annotation

class foxglove.schemas.TextPrimitive(*, pose=None, billboard=False, font_size=0.0, scale_invariant=False, color=None, text=Ellipsis)

A primitive representing a text label

Parameters:

• pose – Position of the center of the text box and orientation of the text. Identity orientation means the text is oriented in the xy-plane and flows from -x to +x.

• billboard – Whether the text should respect pose.orientation (false) or always face the camera (true)

• font_size – Font size (height of one line of text)

• scale_invariant – Indicates whether font_size is a fixed size in screen pixels (true), or specified in world coordinates and scales with distance from the camera (false)

• color – Color of the text

• text – Text

See https://docs.foxglove.dev/docs/visualization/message-schemas/text-primitive

class foxglove.schemas.Timestamp(sec, nsec=None)

A timestamp in seconds and nanoseconds

Parameters:

• sec – The number of seconds since a user-defined epoch.

• nsec – The number of nanoseconds since the sec value.

static from_datetime(dt)

Creates a UNIX epoch Timestamp from a datetime object.

Naive datetime objects are presumed to be in the local timezone.

Raises OverflowError if the timestamp cannot be represented.

Parameters:

dt – Datetime

Return type:

Timestamp

static from_epoch_secs(timestamp)

Creates a Timestamp from an epoch timestamp, such as is returned by time.time() or datetime.datetime.timestamp().

Raises OverflowError if the timestamp cannot be represented.

Parameters:

timestamp – Seconds since epoch

Return type:

Timestamp

static now()

Creates a Timestamp from the current system time.

Raises OverflowError if the timestamp cannot be represented.

Return type:

Timestamp

nsec

The number of fractional seconds in the timestamp, as nanoseconds.

sec

The number of seconds in the timestamp.

class foxglove.schemas.TriangleListPrimitive(*, pose=None, points=Ellipsis, color=None, colors=Ellipsis, indices=Ellipsis)

A primitive representing a set of triangles or a surface tiled by triangles

Parameters:

• pose – Origin of triangles relative to reference frame

• points – Vertices to use for triangles, interpreted as a list of triples (0-1-2, 3-4-5, …)

• color – Solid color to use for the whole shape. One of color or colors must be provided.

• colors – Per-vertex colors (if specified, must have the same length as points). One of color or colors must be provided.

• indices – Indices into the points and colors attribute arrays, which can be used to avoid duplicating attribute data.

See https://docs.foxglove.dev/docs/visualization/message-schemas/triangle-list-primitive

class foxglove.schemas.Vector2(*, x=0.0, y=0.0)

A vector in 2D space that represents a direction only

Parameters:

• x – x coordinate length

• y – y coordinate length

See https://docs.foxglove.dev/docs/visualization/message-schemas/vector2

class foxglove.schemas.Vector3(*, x=0.0, y=0.0, z=0.0)

A vector in 3D space that represents a direction only

Parameters:

• x – x coordinate length

• y – y coordinate length

• z – z coordinate length

See https://docs.foxglove.dev/docs/visualization/message-schemas/vector3