Enums

SUMMARY

Enumeration types used to configure Telekinesis datatypes.

RotationType

StrEnum. Specifies how rotation data is represented in a pose vector.

Enum members can also be compared directly with their string values.For example, RotationType.DEGREES == "deg".

Value	String	Description
DEGREES	"deg"	Euler angles (xyz order), in degrees.
RADIANS	"rad"	Euler angles (xyz order), in radians.
QUATERNION	"quat"	Scalar-first quaternion [qw, qx, qy, qz].
ROTVEC	"rotvec"	Rotation vector (axis-angle, magnitude = angle in radians).

ImageCompression

IntEnum. Specifies the compression applied when serializing Image and ImageBatch data.

The numeric value is stored with the serialized image data and identifies the decoding method required by the receiver.

Value	Int	Description
NONE	0	Raw ndarray bytes stored directly in the Arrow data field.
ZSTD	1	Raw ndarray bytes wrapped in a ZSTD frame. Lossless; trades a small CPU cost for a smaller payload.

PointCloudCompression

IntEnum. Specifies the compression applied when serializing PointCloud and PointCloudBatch data.

The numeric value is stored with the serialized point cloud data and identifies the decoding method required by the receiver. Unlike ImageCompression, DRACO is lossy: positions/normals are quantized, so a round-trip through Draco will not reproduce the exact input floats.

Value	Int	Description
NONE	0	Lossless layout: positions/normals/colors stored directly, uncompressed.
DRACO	1	Draco-compressed payload. Lossy for positions/normals (quantized; colors are unaffected).

DistortionModel

StrEnum. Specifies the camera distortion model used to interpret the distortion_parameters of a CameraCalibration.

Enum members can also be compared directly with their string values. For example, DistortionModel.PLUMB_BOB == "plumb_bob".

Each member provides:

• parameter_names: Ordered names of the distortion coefficients.
• parameter_count: Number of coefficients required by the model.

CameraCalibration uses this information to validate the supplied distortion parameters.

Value	String	Description
PLUMB_BOB	"plumb_bob"	Standard radial-tangential distortion model (OpenCV/ROS plumb_bob). 5 parameters: k1, k2, p1, p2, k3.
RATIONAL_POLYNOMIAL	"rational_polynomial"	Rational polynomial distortion model with extended radial terms. 8 parameters: k1, k2, p1, p2, k3, k4, k5, k6.