Service: Point Cloud

This API is officially released and maintained.

An RPC service to request a stream of point cloud messages. If a pipeline is already running, it will be used to stream the data. If no pipeline is running, it will be started first and then the stream will start. NOTE: in this second case, the pipeline will also be automatically stopped once the this second case, the pipeline will also be automatically stopped once there are no more clients requesting any stream type from the module.

Table 1. Available methods
Method	Request	Response
Stream	PointCloudStreamRequest	PointCloudStreamResponseStream

Stream

A method to get a stream of point cloud messages from the pipeline. It is possible to stream different point clouds, depending on the fields set in the request

Request

A request to receive a stream of point cloud messages. Different point clouds can be streamed depending on the set fields: - combined point cloud (the full point cloud of all the available devices combined) in the map coordinate system - the foreground of the combined point cloud in the map coordinate system - the complete raw point cloud coming from one device, but only in map coordinate system.

Table 2. Available fields in blickfeld.percept_processing.services.PointCloudStreamRequest
Field	Type	Default	Unit
point_cloud_type	percept_pipeline.data.PointCloudType	-	-
point_cloud_type	The type of point cloud to stream
coordinate_system	percept_pipeline.data.CoordinateSystem	-	-
coordinate_system	The coordinate system the point cloud should be expressed in (local or transformed/map)
fqdn	string	-	-
fqdn	fqdn of the data source to get the point cloud from

Response Stream

A response for getting a stream of point cloud messages

Table 3. Available fields in blickfeld.percept_processing.services.PointCloudStreamResponse
Field	Type	Default	Unit
point_cloud	core_processing.data.Frame	-	-
point_cloud	The required point cloud, based on the fields set in the request