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
1.8 KiB
1.8 KiB
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
{
"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)
{
"jsonrpc": "2.0",
"result": <method_specific_result>,
"id": <matching_request_id>
}
Response (Error)
{
"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:
{
"jsonrpc": "2.0",
"method": "get-intrinsic-params",
"id": 1
}
Response:
{
"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:
{
"jsonrpc": "2.0",
"method": "get-extrinsic-params",
"id": 2
}
Response:
{
"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:
{
"jsonrpc": "2.0",
"method": "get-cloud-point",
"id": 3
}
Response:
{
"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)