121 lines
1.9 KiB
Markdown
121 lines
1.9 KiB
Markdown
# JSON-RPC API Documentation
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The Cloud Point RPC server implements the **JSON-RPC 2.0** protocol over TCP.
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> **NOTE 1:** Base64 encoding of data should be implemented on Unity Side.
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> **NOTE 2:** Unit Tests were not written for the described API yet
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## General Format
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All requests and responses are JSON objects.
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### Request
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```json
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{
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"jsonrpc": "2.0",
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"method": "<method_name>",
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"params": {},
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"id": <integer|string>
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}
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```
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*Note: `params` is currently ignored by the implemented methods but is part of the standard.*
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### Response (Success)
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```json
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{
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"jsonrpc": "2.0",
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"result": <method_specific_result>,
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"id": <matching_request_id>
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}
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```
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### Response (Error)
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```json
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{
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"jsonrpc": "2.0",
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"error": {
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"code": <integer>,
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"message": "<string>"
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},
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"id": <matching_request_id>
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}
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```
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---
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## Methods
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### `get-intrinsic-params`
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Retrieves the intrinsic camera parameters as a flat 3x3 matrix (row-major).
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**Request:**
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```json
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{
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"jsonrpc": "2.0",
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"method": "get-intrinsic-params",
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"id": 1
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}
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```
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**Response:**
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```json
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{
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"jsonrpc": "2.0",
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"result": <base64-encoded-array>,
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"id": 1
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}
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```
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*Type: `vector<double>` (size 9) encoded as base64*
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### `get-extrinsic-params`
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Retrieves the extrinsic camera parameters as a flat 4x4 matrix (row-major).
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**Request:**
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```json
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{
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"jsonrpc": "2.0",
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"method": "get-extrinsic-params",
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"id": 2
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}
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```
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**Response:**
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```json
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{
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"jsonrpc": "2.0",
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"result": <base64-encoded-array>,
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"id": 2
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}
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```
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*Type: `vector<double>` (size 16) encoded as base64*
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### `get-cloud-point`
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Retrieves the current field of view point cloud.
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**Request:**
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```json
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{
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"jsonrpc": "2.0",
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"method": "get-cloud-point",
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"id": 3
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}
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```
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**Response:**
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```json
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{
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"jsonrpc": "2.0",
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"result": {
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"width": int,
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"height": int,
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"data": <base64-encoded-array>
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},
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"id": 3
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}
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```
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*Type of data: `matrix WxH` (List of [x, y, z] points) encoded as base 64*
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