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The following messages define the RapidSense 2.x API.

For REST interface endpoints, use port number 11235. For example, http://localhost:11235/volumes.

Volumes

General description

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Excerpt
nameScanScene ASCII

Structure

Code Block
ScanScene

CSV Arguments + Description

The mode by which to scan the scene:

Snapshot = 0

  • Start streaming = 1

  • Stop streaming = 2

  • Clear = 3

YAML Arguments + Description

  • Snapshot = “snapshot”

  • Start streaming = “start_streaming”

  • Stop streaming = “stop_streaming”

  • Clear = “clear”

Function Description

This command changes the scanning mode for RapidSense.

Response Details

Whether the system is set to the requested mode.

Example CSV Request

Code Block
ScanScene,1

Example CSV Response

Code Block
ScanScene,1,0 // success
ScanScene,1,5102 // failure

Example YAML Request

Code Block
{topic: ScanScene, data: {type: "snapshotstart_streaming"}}

Example YAML Response

Code Block
{topic: ScanScene, response: {}}

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Endpoint

Code Block
/heights/<id>/?cx={x}&cy={y}&width={width}&length={length}

Supported Operations

GET

Function Description

The heights endpoint provides callers the height according to the heuristic of maximum value within a specified area.

The parameters are the centroid 2D point (cx, cy) and the width and length of the area of interest (all units in meters).

Response Details

The response is the maximum height in meters.

Example Request

Code Block
GET localhost:11235/heights/1/?cx=0.450&cy=0.789&width=0.110&length=0.120

Example Response

Code Block
{"height": 0.123}

Change Detection(under development)

General description

Users can inspect a volume for deviations from a expected template built by adding objects to a volume and then querying for the deviations.

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Operation

DELETE

Description

Removes a change detection filter.

Request

Code Block
DELETE <hostname>:<port>/changes/<id>

Request Body Format

None.

Response Body Format

None.

For Internal-Use ONLY

Robot Filter

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