# JSON-RPC API Documentation

The Cloud Point RPC server implements the **JSON-RPC 2.0** protocol over TCP.

## General Format

All requests and responses are JSON objects.

### Request
```json
{
  "jsonrpc": "2.0",
  "method": "<method_name>",
  "params": {}, 
  "id": <integer|string>
}
```
*Note: `params` is currently ignored by the implemented methods but is part of the standard.*

### Response (Success)
```json
{
  "jsonrpc": "2.0",
  "result": <method_specific_result>,
  "id": <matching_request_id>
}
```

### Response (Error)
```json
{
  "jsonrpc": "2.0",
  "error": {
    "code": <integer>,
    "message": "<string>"
  },
  "id": <matching_request_id>
}
```

---

## Methods

### `get-intrinsic-params`

Retrieves the intrinsic camera parameters as a flat 3x3 matrix (row-major).

**Request:**
```json
{
  "jsonrpc": "2.0",
  "method": "get-intrinsic-params",
  "id": 1
}
```

**Response:**
```json
{
  "jsonrpc": "2.0",
  "result": [
    1.0, 0.0, 0.0,
    0.0, 1.0, 0.0,
    0.0, 0.0, 1.0
  ],
  "id": 1
}
```
*Type: `vector<double>` (size 9)*

### `get-extrinsic-params`

Retrieves the extrinsic camera parameters as a flat 4x4 matrix (row-major).

**Request:**
```json
{
  "jsonrpc": "2.0",
  "method": "get-extrinsic-params",
  "id": 2
}
```

**Response:**
```json
{
  "jsonrpc": "2.0",
  "result": [
    1.0, 0.0, 0.0, 0.0,
    0.0, 1.0, 0.0, 0.0,
    0.0, 0.0, 1.0, 0.0,
    0.0, 0.0, 0.0, 1.0
  ],
  "id": 2
}
```
*Type: `vector<double>` (size 16)*

### `get-cloud-point`

Retrieves the current field of view point cloud.

**Request:**
```json
{
  "jsonrpc": "2.0",
  "method": "get-cloud-point",
  "id": 3
}
```

**Response:**
```json
{
  "jsonrpc": "2.0",
  "result": [
    [0.1, 0.2, 0.3],
    [1.1, 1.2, 1.3],
    [5.5, 6.6, 7.7]
  ],
  "id": 3
}
```
*Type: `vector<vector<double>>` (List of [x, y, z] points)*