Package com.viam.service.slam.v1

Interface Slam.GetPointCloudMapResponseOrBuilder

All Superinterfaces:
com.google.protobuf.MessageLiteOrBuilder
All Known Implementing Classes:
Slam.GetPointCloudMapResponse, Slam.GetPointCloudMapResponse.Builder
Enclosing class:
Slam
public static interface Slam.GetPointCloudMapResponseOrBuilder extends com.google.protobuf.MessageLiteOrBuilder

  • Method Summary

    Modifier and Type
    Method
    Description
    com.google.protobuf.ByteString
    getPointCloudPcdChunk()
    One chunk of the PointCloud.

    Methods inherited from interface com.google.protobuf.MessageLiteOrBuilder

    getDefaultInstanceForType, isInitialized

  • Method Details

    • getPointCloudPcdChunk

      com.google.protobuf.ByteString getPointCloudPcdChunk()
       One chunk of the PointCloud.
 For a given GetPointCloudMap request, concatenating all
 GetPointCloudMapResponse.point_cloud_pcd_chunk values in the
 order received result in the complete pointcloud in standard PCD
 format where XY is the ground plane and positive Z is up, following
 the Right Hand Rule.

 Read more about the pointcloud format here:
 https://pointclouds.org/documentation/tutorials/pcd_file_format.html

 Viam expects pointcloud data with fields "x y z" or "x y z rgb", and for
 this to be specified in the pointcloud header in the FIELDS entry. If color
 data is included in the pointcloud, Viam's services assume that the color
 value encodes a confidence score for that data point. Viam expects the
 confidence score to be encoded in the blue parameter of the RGB value, on a
 scale from 1-100.

 Pointclouds are little endian encoded.
      bytes point_cloud_pcd_chunk = 1 [json_name = "pointCloudPcdChunk"];
      Returns:
      The pointCloudPcdChunk.