BOW Data Message

Protocol Documentation

Field	Type	Description
Source	string	Source indicates the origin of the audio data, such as a specific microphone.
Data	bytes	Data contains the raw or compressed audio data.
Channels	uint32	Channels specifies the number of audio channels.
SampleRate	uint64	SampleRate indicates the number of samples per second.
NumSamples	uint64	NumSamples provides the total number of audio samples in the Data field.
Compression	AudioSample.CompressionFormatEnum	Compression specifies the audio compression format used.
Transform	Transform	Transform provides the spatial location of the audio source, if applicable.
Designation	StereoDesignationEnum	Designation specifies whether the audio is intended for a specific channel in a stereo or multi-channel setup.

Field	Type	Label	Description
Samples	AudioSample	repeated	Samples is an array of AudioSample messages, each containing a sample of audio data from different sources

Field	Type	Description
Source	string	Source identifies the origin of the data, such as a the name or sensor ID.
Type	Environment.SensorTypeEnum	Type identifies the type of sensor as per SensorTypeEnum.
Value	float	Value for the sensor in SI units
Transform	Transform	Transform for the environment sensor

Field	Type	Label	Description
Data	float	repeated	Data is an array of 32-bit floating-point numbers.

Field	Type	Label	Description
Data	int64	repeated	Data is an array of 64-bit integers.

Field	Type	Description
QuatX	float	X component of the normalised quaternion
QuatY	float	Y component of the normalised quaternion
QuatZ	float	Z component of the normalised quaternion
QuatW	float	W component of the normalised quaternion

Field	Type	Description
Position	Vector3	Position utilises a Vector3 to define distances in metres from a designated reference point. X is positive to the right, Y is positive upwards, Z is positive forwards.
EulerAngles	Vector3	EulerAngles use a Vector3 to define rotation through specific angles, in units designated by AngleUnits.
LinkName	string	Optional: LocationTag identifies the origin point to which the transform is relative.
Part	string

Field	Type	Description
X	float	X component of the vector
Y	float	Y component of the vector
Z	float	Z component of the vector

Name	Number	Description
POSITION_CONTROLLER	0	Default: POSITION_CONTROL uses inverse kinematics to control the position and orientation of the end effector at the end of the kinematic chain.
VELOCITY_CONTROLLER	1	VELOCITY_CONTROL is not currently available. (Upcoming functionality)
TORQUE_CONTROLLER	2	TORQUE_CONTROL is not currently available. (Upcoming functionality)

Name	Number	Description
Temperature	0
Pressure	1
Humidity	2

Name	Number	Description
NO_OBJECTIVE	0	Default: No objective to provide a status for
PLANNING	1	Motion plan is being created
IN_PROGRESS	2	Objective is currently being executed
COLLISION_ERROR	3	Objective execution stopped due to collision
ERROR	4	Objective execution stopped due to error
WARNING	5	Warning raised
FINISHED	6	Objective finished successfully

Name	Number	Description
BASE	0	Default: Base indicates the robot's contact point with the floor.
HEAD	1	Head marks the robot's primary vision point, often where the main camera is located.
END_EFFECTOR	2	End_Effector identifies the terminal point of an articulated assembly.
END_EFFECTOR_LEFT	3	Identical to End_Effector but specifies the main articulated assembly on the left side of the robot.
END_EFFECTOR_RIGHT	4	Identical to End_Effector but specifies the main articulated assembly on the right side of the robot.
TORSO	5	Torso marks the robot's centre of mass.

Name	Number	Description
NONE	0	Default: Camera functions independently, not as part of a stereo pair.
LEFT	1	Camera operates as the left component in a stereo pair.
RIGHT	2	Camera operates as the right component in a stereo pair.

Field	Type	Description
Source	string	Source identifies the origin of the data, such as a the name or sensor ID.
Mag	Vector3	Mag represents the measured components of the magnetic field along each axis
Transform	Transform	Transform provides the spatial positioning of the compass

Field	Type	Label	Description
Lidar	Lidar	repeated	Optional: Lidar provides an array of range values representing the distances to objects at varying angles from a point
Range	Range	repeated	Optional: Range provides a distance or binary present/not present signal representing the output of a range sensor
Imu	IMU	repeated	Optional: Imu provides the 3D acceleration, orientation, and gravitational forces experienced at different positions on a robot's body
Gps	GPS		Optional: Gps provides the global position of the robot, if available
Compass	Compass		Optional: Compass provides the magnetic field along up to 3 axis
Env	Environment	repeated	Optional: Environment provides temperature, pressure and humidity readings.
Light	Light	repeated	Optional: Light provides a measurement of light/brightness at the location of the sensor

Field	Type	Description
Source	string	Source identifies the origin of the data, such as a the name or sensor ID.
Latitude	float	Latitude in decimal degrees
Longitude	float	Longitude in decimal degrees
Elevation	float	Elevation in meters above sea level
Time	string	Timestamp of the GPS sample
Transform	Transform	Transform for the GPS sample

Field	Type	Description
Source	string	Source identifies the origin of the data, such as a the name or sensor ID.
Gyro	Vector3	Gyro represents angular velocity measured in radians per second along X, Y, and Z axes.
Acc	Vector3	Acc signifies linear acceleration in meters per second squared along X, Y, and Z axes.
Orientation	Vector3	Optional: Returns the angular position of the IMU.
Transform	Transform	Transform provides a reference frame for the IMU data.
HasAcc	bool
HasGyro	bool

Field	Type	Label	Description
Source	string		Source identifies the origin of the data, such as a the name or sensor ID.
Data	float	repeated	Data provides the distance to an obstacle within an angular segment of size defined by spatial resolution.
DataShape	uint32	repeated	DataShape provides the dimensions of the Data array. Height is 1 for 2D Lidar or bigger for 3D Lidar
HorizontalAngularResolution	float		HorizontalAngularResolution specifies the granularity of the lidar data, the angle between each sample for the horizontal axis.
VerticalAngularResolution	float		HorizontalAngularResolution specifies the granularity of the lidar data, the angle between each sample for the horizontal axis.
HorizontalStartAngle	float		Optional: Start provides the start angle of the horizontal scan, if not populated assumed to be 0 degrees
HorizontalEndAngle	float		End provides the end angle of the horizontal scan, if not populated assumed to be 360 degrees
VerticalStartAngle	float		Optional: Start provides the start angle of the vertical scan, if not populated assumed to be 0 degrees
VerticalEndAngle	float		End provides the end angle of the horizontal scan, if not populated assumed to be 360 degrees
ScanDuration	int64		Time taken to complete scan in milliseconds
TimeBetweenScans	int64		Time between measurement intervals in milliseconds
Transform	Transform		Transform represents the spatial positioning of the lidar sensor at the time the data was captured.
NewDataFlag	bool		Flag which allows pre-setting of parameters awaiting new data

Field	Type	Description
Source	string	Source identifies the origin of the data, such as a the name or sensor ID.
Data	float	Data provides the light measurement in the provided units
Min	float	Min provides the minimum value for which readings from the sensor are valid
Max	float	Max provides the maximum value for which readings from the sensor are valid
Unit	Light.LightUnitEnum	Unit provides the unit of the light measurement
Transform	Transform	Transform provides the spatial positioning of the sensor

Field	Type	Description
Source	string	Source identifies the origin of the data, such as a the name or sensor ID.
Data	float	Data provides the distance to the nearest object in the field of view of the sensor
Min	float	Min provides the minimum range at which readings from the sensor are valid
Max	float	Max provides the maximum range at which readings from the sensor are valid
FOV	float	FOV provides the field of view of the range sensor as an angle
SensorType	Range.SensorTypeEnum	SensorType provides the type of sensor which determines the expected output
OperationType	Range.OperationTypeEnum	OperationType provides the mechanism which the sensor uses for its operation, i.e. light, sound, mechanical.
Transform	Transform	Transform represents the spatial positioning of the range sensor at the time the data was captured.

Name	Number	Description
Irradiance	0
Illuminance	1
Normalised	2

Name	Number	Description
Ultrasound	0	Sensor uses ultrasound for ranging, i.e. sonar
Infrared	1	Sensor uses infrared light for ranging, i.e. ToF
Mechanical	2	Sensor is a mechanical switch, i.e. cliff sensor
Laser	3	Sensor is a laser ranging device i.e single point lidar

Name	Number	Description
Distance	0	Default: Sensor will return a range value
Proximity	1	Sensor will return a confidence value of object exists/doesn't exist

Field	Type	Description
Voltage	float	Voltage provides the voltage reading across the battery
Current	float	Current provides the current draw in Amps
Charge	float	Charge provides charge in the battery in Amp Hours
Percentage	float	Provides the percentage charge of the battery remaining
Present	bool	True if the battery is connected, otherwise False
SupplyStatus	Battery.SupplyStatusEnum	An enum providing the status of the robots power supply/battery charger

Field	Type	Label	Description
Env	Environment	repeated	Optional: Env provides temperature, pressure and humidity readings from the inside of the robot
battery	Battery		Battery provides the current state of the battery
Error	string	repeated	A list of any provided error messages or codes

Name	Number	Description
Unknown	0
Charging	1
Discharging	2
Not_Charging	3
Complete	4

bow_data_motor.proto

BodyPart

EndEffector defines an update to be sent to an articulated assembly, such as an arm or a leg

Field	Type	Label
Name	string
Type	BodyPartTypeEnum
RootLink	string
Effectors	Effector	repeated
Parent	string

CustomOptimiser

Field	Type	Label	Description
OptimiserMethod	CustomOptimiser.OptimiserMethodEnum
Iterations	int32
UseEvolution	bool

Effector

Field	Type	Label	Description
EffectorLinkName	string
EndTransform	Transform
RootTransform	Transform
Reach	float
JointArray	Joint	repeated	JointArray contain the angular positions of each joint in the articulated assembly, ordered according to the robot's specification. This is to enable manual control of the robot's joints if needed but should be avoided under normal circumstances because code will not be robot agnostic in behaviour. WARNING: NOT ROBOT AGNOSTIC
AvailableActions	ActionEnum	repeated
Workspace	OctreeNode
Objectives	ObjectiveFeedback	repeated
IsControllable	bool
Type	BodyPartTypeEnum

GazeTarget

Field	Type	Label	Description
GazeVector	Vector3
VectorType	GazeTarget.TargetTypeEnum

Gripper

Gripper outlines the configuration of a hand-like gripper in terms of each finger's position.

Field	Type	Label
GripperControlMode	GripperModeEnum
HandMapPercentage	HandMapPercentage
HandMapTransform	HandMapTransform
JointArray	Joint	repeated

GripperStatus

Field	Type	Label	Description
GripperJointArray	Joint	repeated
GripperOccupied	bool

HandMapPercentage

Field	Type	Description
Thumb	float	Thumb specifies the % closed for the thumb [0-1] or distance of thumb-tip to palm.
Index	float	Index specifies the % closed for the index finger [0-1] or distance of index fingertip to palm.
Middle	float	Middle specifies the % closed for the middle finger [0-1] or distance of middle fingertip to palm.
Ring	float	Ring specifies the % closed for the ring finger [0-1] or distance of ring fingertip to palm.
Pinky	float	Pinky specifies the % closed for the pinky finger [0-1] or distance of pinky fingertip to palm.
FingerAdduction	float	FingerAddiction specifies the spread of the fingers as a % [0-1]. Not used in DISTANCE_IK mode.
ThumbOpposition	float	ThumbOpposition specifies the opposition of the thumb as a % [0-1]. Not used in DISTANCE_IK mode.

HandMapTransform

Field	Type	Label	Description
CustomRef	Transform
Thumb	Transform
Index	Transform
Middle	Transform
Ring	Transform
Pinky	Transform
TargetObject	Object

IKOptimiser

Field	Type	Label	Description
Preset	IKOptimiser.OptimiserPreset
CustomSettings	CustomOptimiser

Joint

to read from proprioception and then submit as motor sample

Field	Type	Label	Description
Name	string
Type	Joint.JointTypeEnum
Position	float
Velocity	float
Acceleration	float
Torque	float
Min	float
Max	float
Default	float
Temperature	float
Healthy	bool
Mimic	bool
MaxVelocity	float
MaxAcceleration	float
MaxTorque	float

MotorSample

MotorSample combines all the parts of a motor update into a single message.

Field	Type	Label	Description
ControlMode	MotorSample.ControlModeEnum
Locomotion	VelocityTarget		Locomotion provides an update for the robot's target velocity of movement within 3D space.
Objectives	ObjectiveCommand	repeated	Objectives holds an array of ObjectiveCommands which define the desired control of the robot's kinematic chains.
Obstacles	Object	repeated	an array of capsules representing external obstacles to avoid
RawJoints	Joint	repeated	KinematicChains holds an array of kinematic chains such as head, arms and legs.
WorkspaceReceived	bool
IKSettings	IKOptimiser
GazeTarget	GazeTarget
GripperObjective	Gripper
GaitSettings	QuadGait

Object

Field	Type	Description
name	string
Origin	Transform
EndA	Vector3
EndB	Vector3
Radius	float
RatioAB	float	discard Origin and make EndA EndB relative to global when sending between client and robot

ObjectiveCommand

Field	Type	Description
TargetEffector	string	Name for effector that is the target of this objective
TargetBodyPart	string	Optional
ControlMode	ControllerEnum	ControlMode specifies how this chain is to be controlled. Position control using PositionTarget. Velocity control using VelocityTarget if ChainType==(ARM_CHAIN_TYPE or LEG_CHAIN_TYPE) (upcoming functionality added for completeness). Torque control using TorqueTarget if ChainType==(ARM_CHAIN_TYPE or LEG_CHAIN_TYPE) (upcoming functionality added for completeness). Torque control gripper maybe?
PoseTarget	PoseTarget	Defines the position target for the position controller
VelocityTarget	VelocityTarget	Defines the velocity target for the velocity controller.
TorqueTarget	TorqueTarget	Defines the torque target for the torque controller.
Enabled	bool
CustomName	string

ObjectiveFeedback

Field	Type	Label	Description
Status	ObjectiveStatusEnum
ControlType	ControllerEnum
TargetTransform	Transform
CurrentTransform	Transform
EuclideanError	float
PositionError	Vector3
OrientationError	Vector3
ErrorDescription	string

PositionTarget specifies a target spatial orientation and position for the tip of the end effector relative to a provided reference frame. The required joint angles that result in the end effector going to the specified transform are calculated using built-in inverse kinematics. https://en.wikipedia.org/wiki/Inverse_kinematics

Field	Type	Description
Action	ActionEnum	Defines the type of action to carry out for this Target. When Action==GO_TO When Action==POINT When Action==GRASP, a gripper command is generated for you if no gripper Objectives are provided in MotorSample.GripperObjective
TargetType	PoseTarget.TargetTypeEnum
TargetScheduleType	PoseTarget.SchedulerEnum
Transform	Transform	Transform describes 3D position and orientation for the target.
Object	Object	Object defines the external object being interacted with as part of the position target. Used only when Action==POINT or Action==GRASP
MovementDurationMs	float	Optional: MovementDurationMs defines the time allowed for the robot to move to its target transform or target joint angles in milliseconds. Ignored when robot does not support timing information on movements. If it's important to check for the successful execution of a command use proprioception to check.
TargetAccuracy	float
OptimiserSettings	IKOptimiser

ProprioceptionSample

ProprioceptionSample contains all the information regarding the kinematic state of the robot and relating to the robot's environment

Field	Type	Label
Parts	BodyPart	repeated
Effectors	Effector	repeated
Objects	Object	repeated
RawJoints	Joint	repeated
WorkspaceByteArray	bytes

QuadGait

Field	Type	Label	Description
UseCustomGait	bool
CommonXTranslation	float
SwingHeight	float
StanceDepth	float
StanceDuration	float
SwingDuration	float
NominalHeight	float
GaitOrientation	Vector3

TorqueTarget

Field	Type	Label	Description
TranslationalTorque	Vector3
RotationalTorque	Vector3

VelocityTarget

Field	Type	Label	Description
TranslationalVelocity	Vector3
RotationalVelocity	Vector3

VelocityTargetStatus

ActionEnum

ChainTypeEnum specifies the type of kinematic chain

Name	Number	Description
GOTO	0	Default: GOTO is a position and orientation objective in relation to a transform
TOUCH	1	TOUCH is a position and orientation objective in relation to a capsule that explicitly touches surface of capsule
POINT	2	POINT is a position and orientation objective with a distance_from modifier.
LOOK_AT	3	Look at is an orientation objective to look at a target transform or capsule. Requires a camera on the limb or gripper
GRASP	4	GRASP can only be sent to a gripper and results in a GOTO for the upstream effector accompanied by a grasp by the gripper

BodyPartTypeEnum

Name	Number	Description
ROOT	0
LIMB	1
GRIPPER	2
EFFECTOR	3

CustomOptimiser.OptimiserMethodEnum

Name	Number	Description
BOUNDED_BFGS	0
BFGS	1
LBFGS	2
GRAD	3
CG	4
NM	5

GazeTarget.TargetTypeEnum

Name	Number	Description
ABSOLUTE	0
RELATIVE	1

GripperModeEnum

GripperModeEnum specifies the type of control to be used by the gripper

Name	Number	Description
PERCENTAGE_MODE	0	Defines that the information stored for each digit is a float range of 0 (fully open) to 1 (fully closed)
TRANSFORM_MODE_WRT_WRIST	1	Defines that the information stored for each digit is a distance from fingertip to palm. This information is used by IK to create a robot agnostic solution that can generate a solution independent of gripper joint configuration
TRANSFORM_MODE_WRT_CAPSULE	2
TRANSFORM_MODE_WRT_CUSTOM_REF	3
JOINT_MODE	4

IKOptimiser.OptimiserPreset

Name	Number	Description
LOW_LATENCY	0
HIGH_ACCURACY	1
BALANCED	2
CUSTOM	3

Joint.JointTypeEnum

JointTypeEnum designates the type of joint

Name	Number	Description
FIXED	0	Default: Joint is a fixed and immovable joint
LINEAR_PRISMATIC	1	Joint is a linear prismatic joint that moves in a linear motion
REVOLUTE	2	Joint is a revolute joint that moves in a circular motion and has a max and min angle
CONTINUOUS	3	Joint is a continuous joint that moves in a circular motion without any limits on angle

MotorSample.ControlModeEnum

ControlModeEnum specifies whether using direct joint control or other controller through objectives

Name	Number	Description
USE_OBJECTIVE	0	Default: Use objective to control robot movement
USE_DIRECT_JOINTS	1	Use direct joint angles

PoseTarget.SchedulerEnum

Name	Number	Description
SEQUENTIAL	0	Default:
INSTANTANEOUS	1

PoseTarget.TargetTypeEnum

Name	Number	Description
TRANSFORM	0	Default:
CAPSULE	1

Top

bow_data_octree.proto

OctreeNode

TimeSync enables the synchronization of clocks between devices.

Field	Type	Label
EffectorLink	string
RootLink	string
Center	Point
MinX	float
MaxX	float
MinY	float
MaxY	float
MinZ	float
MaxZ	float
Children	OctreeNode	repeated
Leaf	bool
Depth	int32
MaxDepth	int32
Reachable	bool
ValidOctree	bool

Point

Field	Type	Label	Description
X	float
y	float
Z	float

Workspaces

Field	Type	Label	Description
Workspaces	OctreeNode	repeated

Top

bow_data.proto

BlobSample

BlobSample provides flexible data type that can be used to define your own messages in a custom communication channel

Field	Type	Label	Description
BytesArray	bytes	repeated	BytesArray holds an array of bytes.
IntArray	int64	repeated	IntArray stores an array of integers.
FloatArray	float	repeated	FloatArray contains an array of floating-point numbers.
String	string		String stores a text string.
Transform	Transform		Transform specifies a spatial orientation and position in a 3D space.

Recording

MotorArray is a collection of MotorSamples, each accompanied by a timestamp, providing a time-ordered set of robot states. This is the data type for a recording.

Field	Type	Label	Description
ImageSamples	ImageSamples	repeated	Samples contains an array of MotorSamples, each capturing a unique state of the robot's motors.
AudioSamples	AudioSamples	repeated
ProprioceptionSamples	ProprioceptionSample	repeated
TactileSamples	TactileSamples	repeated
MotorSamples	MotorSample	repeated
VoiceSamples	AudioSamples	repeated
SpeechSamples	StringSample	repeated
ExteroceptionSamples	ExteroceptionSample	repeated
InteroceptionSamples	InteroceptionSample	repeated
OctreeSamples	OctreeNode	repeated
Tstamp	int64	repeated	Tstamp holds an array of timestamps in milliseconds

StringSample

StringSample encapsulates a single string-based data sample.

Field	Type	Label	Description
Data	string		Data contains the string value of the sample.

TimeSync

TimeSync enables the synchronization of clocks between devices.

Field	Type	Description
TOrigin_0	int64	TOrigin_0 is the time on the originating device when the sync request is first made
TReceiver	int64	TReceiver is the time on the receiving device when the sync request is received
TOrigin_1	int64	TOrigin_1 is the time on the originating device when the sync response is received
ReturnTrip	bool	ReturnTrip signifies if the synchronization request has made a round trip

ColorChannelOrder

ColorChannelOrder identifies the color order requested for the texture being memory mapped back the core as part of UpdateTexture. Every pixel is 32bit - 8 bits per channel

Name	Number	Description
RGBA32	0	Default: Red Green Blue
BGRA32	1	Blue Green Red

Top

bow_data_tactile.proto

TactileSample

TactileSample captures data about a single tactile interaction or sensor reading.

Field	Type	Label	Description
Source	string		Source identifies the tactile sensor that provided the data.
LocationTag	RelativeToEnum		LocationTag specifies the location on the robot where the sensor is mounted.
Data	bytes		Data contains the raw tactile data.
DataShape	uint32	repeated	DataShape provides the dimensions of the tactile data array.
TactileType	TactileSample.TactileTypeEnum		TactileType specifies the type of tactile interaction being captured.
Compression	TactileSample.CompressionFormatEnum		Compression indicates the tactile data compression format.
ClassifiedTexture	string		ClassifiedTexture offers a qualitative description of a detected texture.
FloatData	float	repeated	FloatData can contain additional floating-point data related to the tactile sample.
Transform	Transform		Transform gives the spatial orientation and position of the sensor
NewDataFlag	bool		NewDataFlag indicates whether the data sample is new or not.

TactileSamples

TactileSamples is a container for multiple instances of tactile data samples.

Field	Type	Label	Description
Samples	TactileSample	repeated	Samples is an array of TactileSample messages, each providing detailed information about different types of tactile experiences.

TactileSample.CompressionFormatEnum

CompressionFormatEnum lists available formats for tactile data compression.

Name	Number	Description
RAW	0	Default: No compression

TactileSample.TactileTypeEnum

TactileTypeEnum enumerates the types of tactile interactions that can be captured.

Name	Number	Description
UNDEFINED	0	Default: Undefined tactile type
PRESSURE	1	PRESSURE is a 1D float data type of range [0,1] with 1 item per sensor
VIBRATION	2	VIBRATION is a 1D float data type of range [0,1] with 1 item per sensor
TEXTURE	3	TEXTURE represents a classified texture provided as a string
FORCE_FEEDBACK	4	FORCE_FEEDBACK is a 1D float data type of range [0,1] with 1 item per sensor
TRIAXIAL	5	TRIAXIAL is a 3D float data type of range [0,1] with 3 items per sensor

Top

bow_data_vision.proto

ImageSample

ImageSample contains various information related to a single image or frame.

Field	Type	Label	Description
Source	string		Source identifies the origin of the image, such as a camera name or sensor ID.
Data	bytes		Data holds the image information in bytes.
DataShape	uint32	repeated	DataShape provides the dimensions of the Data array, useful for reshaping the byte array back into an image.
Compression	ImageSample.CompressionFormatEnum		Compression indicates the algorithm used to compress the image.
ImageType	ImageSample.ImageTypeEnum		ImageType specifies the kind of image (RGB, Depth, etc.)
Transform	Transform		Transform represents the spatial positioning of the camera or sensor at the time the image was captured.
FrameNumber	uint64		Optional: FrameNumber is a unique identifier for this frame.
Designation	StereoDesignationEnum		Designation pertains to the role of the image in a stereo pair, if applicable.
HFOV	float		Optional: HFOV is the horizontal field of view of the camera in degrees
VFOV	float		Optional: VFOV is the vertical field of view of the camera in degrees.
NewDataFlag	bool		NewDataFlag indicates whether this sample contains new information since the last capture.
Min	uint32
Max	uint32

ImageSamples

ImageSamples holds an array of ImageSample objects, each capturing a specific image or frame at a given point in time and with a specific transform

Field	Type	Label	Description
Samples	ImageSample	repeated	Samples is an array of ImageSample objects.

ImageSample.CompressionFormatEnum

CompressionFormatEnum defines the compression currently in use for this image

Name	Number	Description
H264	0	h264 compression
VP8	1	Default: vp8 compression
VP9	2	vp9 compression
JPG	3	jpeg compression
RAW	4	no compression
H265	5	h265 compression

ImageSample.ImageTypeEnum

ImageTypeEnum defines the type of image or sensory data.

Name	Number	Description
RGB	0	Default: Standard red-green-blue image in YUV422 format
DEPTH	1	Depth map
STEREO	2	Stereoscopic image
INFRARED	3	Infrared image

Scalar Value Types

.proto Type	Notes	C++	Java	Python	Go	C#	PHP	Ruby
double		double	double	float	float64	double	float	Float
float		float	float	float	float32	float	float	Float
int32	Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint32 instead.	int32	int	int	int32	int	integer	Bignum or Fixnum (as required)
int64	Uses variable-length encoding. Inefficient for encoding negative numbers – if your field is likely to have negative values, use sint64 instead.	int64	long	int/long	int64	long	integer/string	Bignum
uint32	Uses variable-length encoding.	uint32	int	int/long	uint32	uint	integer	Bignum or Fixnum (as required)
uint64	Uses variable-length encoding.	uint64	long	int/long	uint64	ulong	integer/string	Bignum or Fixnum (as required)
sint32	Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int32s.	int32	int	int	int32	int	integer	Bignum or Fixnum (as required)
sint64	Uses variable-length encoding. Signed int value. These more efficiently encode negative numbers than regular int64s.	int64	long	int/long	int64	long	integer/string	Bignum
fixed32	Always four bytes. More efficient than uint32 if values are often greater than 2^28.	uint32	int	int	uint32	uint	integer	Bignum or Fixnum (as required)
fixed64	Always eight bytes. More efficient than uint64 if values are often greater than 2^56.	uint64	long	int/long	uint64	ulong	integer/string	Bignum
sfixed32	Always four bytes.	int32	int	int	int32	int	integer	Bignum or Fixnum (as required)
sfixed64	Always eight bytes.	int64	long	int/long	int64	long	integer/string	Bignum
bool		bool	boolean	boolean	bool	bool	boolean	TrueClass/FalseClass
string	A string must always contain UTF-8 encoded or 7-bit ASCII text.	string	String	str/unicode	string	string	string	String (UTF-8)
bytes	May contain any arbitrary sequence of bytes.	string	ByteString	str	[]byte	ByteString	string	String (ASCII-8BIT)

Name	Number	Description
RAW	0	Default: No compression
SPEEX	1	Compressed in Speex formats

BOW Data Message

On this page