Artur Mukhamadiev
cbe56d9193
Minimal API functionality with unit tests, could be used for integration tests with Unity server. For internal testing used RPC_server implementation
126 lines
1.8 KiB
Markdown
126 lines
1.8 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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## 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": [
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0
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],
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"id": 1
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}
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```
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*Type: `vector<double>` (size 9)*
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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": [
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1.0, 0.0, 0.0, 0.0,
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0.0, 1.0, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0
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],
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"id": 2
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}
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```
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*Type: `vector<double>` (size 16)*
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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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[0.1, 0.2, 0.3],
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[1.1, 1.2, 1.3],
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[5.5, 6.6, 7.7]
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],
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"id": 3
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}
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```
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*Type: `vector<vector<double>>` (List of [x, y, z] points)*
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