Point Cloud¶
Client for the point cloud service.
This allows client code to read from a point cloud service.
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exception
bosdyn.client.point_cloud.
PointCloudResponseError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.exceptions.ResponseError
General class of errors for PointCloud service.
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exception
bosdyn.client.point_cloud.
UnknownPointCloudSourceError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.point_cloud.PointCloudResponseError
System cannot find the requested point cloud source name.
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exception
bosdyn.client.point_cloud.
SourceDataError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.point_cloud.PointCloudResponseError
System cannot generate the PointCloudSource at this time.
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exception
bosdyn.client.point_cloud.
PointCloudDataError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.point_cloud.PointCloudResponseError
System cannot generate point cloud data at this time.
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class
bosdyn.client.point_cloud.
PointCloudClient
[source]¶ Bases:
bosdyn.client.common.BaseClient
A client handling point clouds.
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default_service_name
= 'point-cloud'¶
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service_type
= 'bosdyn.api.PointCloudService'¶
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list_point_cloud_sources
(**kwargs)[source]¶ Obtain the list of PointCloudSources.
- Returns
A list of the different point cloud sources as strings.
- Raises
RpcError – Problem communicating with the robot.
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get_point_cloud_from_sources
(point_cloud_sources, **kwargs)[source]¶ Obtain point clouds from sources using default parameters.
- Parameters
point_cloud_sources (list of strings) – The source names to request point clouds from.
- Returns
A list of point cloud responses for each of the requested sources.
- Raises
RpcError – Problem communicating with the robot.
UnknownPointCloudSourceError – Provided point cloud source was invalid or not found
point_cloud.SourceDataError – Failed to fill out PointCloudSource. All other fields are not filled
UnsetStatusError – An internal PointCloudService issue has happened
PointCloudDataError – Problem with the point cloud data. Only PointCloudSource is filled
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get_point_cloud_from_sources_async
(point_cloud_sources, **kwargs)[source]¶ Obtain point clouds from sources using default parameters.
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get_point_cloud
(point_cloud_requests, **kw_args)[source]¶ Get the most recent point cloud
- Parameters
point_cloud_requests (list of PointCloudRequest) – A list of PointCloudRequest protobuf messages which specify which point clouds to collect
kw_args – Extra arguments to pass to grpc call invocation.
- Returns
A list of point cloud responses for each of the requested sources.
- Raises
RpcError – Problem communicating with the robot.
UnknownPointCloudSourceError – Provided point cloud source was invalid or not found
point_cloud.SourceDataError – Failed to fill out PointCloudSource. All other fields are not filled
UnsetStatusError – An internal PointCloudService issue has happened
PointCloudDataError – Problem with the point cloud data. Only PointCloudSource is filled
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get_point_cloud_async
(point_cloud_requests, **kw_args)[source]¶ Get the most recent point cloud
- Parameters
point_cloud_requests (list of PointCloudRequest) – A list of PointCloudRequest protobuf messages which specify which point clouds to collect
kw_args – Extra arguments to pass to grpc call invocation.
- Raises
RpcError – Problem communicating with the robot.
UnknownPointCloudSourceError – Provided point cloud source was invalid or not found
point_cloud.SourceDataError – Failed to fill out PointCloudSource. All other fields are not filled
UnsetStatusError – An internal PointCloudService issue has happened
PointCloudDataError – Problem with the point cloud data. Only PointCloudSource is filled
- Returns
A list of point cloud responses for each of the requested sources.
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bosdyn.client.point_cloud.
build_pc_request
(point_cloud_source_name)[source]¶ Helper function which builds an PointCloudRequest from an point cloud source name.
- Parameters
point_cloud_source_name (string) – The point cloud source to query.
- Returns
The PointCloudRequest protobuf message for the given parameters.