Service: Point Cloud

This API is officially released and maintained.

Point Cloud service for core point cloud stream. It is the direct result of the internal processing pipeline. The output is not post-processed further. The post-processed output can be retrieved from the percept-processing PointCloud service.

Table 1. Available methods
Method	Request	Response
Stream	PointCloudStreamRequest	PointCloudStreamResponseStream
Get	PointCloudGetRequest	PointCloudGetResponse
SetFilter	PointCloudSetFilterRequest	google.protobuf.Empty
GetFilter	google.protobuf.Empty	PointCloudGetFilterResponse

Stream

Stream a point cloud stream

This activates the sensor if it is currently idle.

Request

Request for point cloud stream request

Response Stream

Stream response to point cloud stream request

Table 2. Available fields in blickfeld.core_processing.services.PointCloudStreamResponse
Field	Type	Default	Unit
frame	data.Frame	-	-
frame	Point cloud frame

Get

Get a single point cloud

This activates the sensor if it is currently idle.

Request

Request for point cloud get request

Response

Response to point cloud get request

Table 3. Available fields in blickfeld.core_processing.services.PointCloudGetResponse
Field	Type	Default	Unit
frame	data.Frame	-	-
frame	Point cloud frame

SetFilter

Set the filter configuration which is to be applied on the point cloud data

Request

Request for setting the filter configuration

Table 4. Available fields in blickfeld.core_processing.services.PointCloudSetFilterRequest
Field	Type	Default	Unit
filter	optional config.PointCloud.Filter	-	-
filter	Filter configuration which should be applied on the point cloud frames.

GetFilter

Get the filter configuration which is currently applied on the point cloud data

Response

Response for retrieving the current filter configuration

Table 5. Available fields in blickfeld.core_processing.services.PointCloudGetFilterResponse
Field	Type	Default	Unit
filter	config.PointCloud.Filter	-	-
filter	Filter configuration which is currently applied on the point cloud frames.