Beta.scene.stream

Stream builder classes for constructing scene streams.

Each stream type has a dedicated builder returned by the corresponding add_*_stream method on SceneBuilder.

_StreamBuilderBase Objects

class _StreamBuilderBase()

Internal base — not part of the public API.

name

@property
def name() -> str

The stream name used to register this stream in the SceneBuilder.

PCDStreamBuilder Objects

class PCDStreamBuilder(_StreamBuilderBase)

Builder for a point-cloud stream.

Returned by add_pcd_stream().

add_pcd

def add_pcd(*, uri: str, timestamp: float) -> PCDStreamBuilder

Append a single point-cloud event.

Arguments:

• uri - Non-empty URI pointing to the point-cloud file.
• timestamp - Scene timestamp for this event.

set_frame_of_reference

def set_frame_of_reference(for_id: str | FoRStreamBuilder) -> PCDStreamBuilder

Link this stream to a frame-of-reference stream.

Arguments:

• for_id - The stream name of a FoR stream, or a FoRStreamBuilder instance.

set_pose

def set_pose(pose: Pose) -> PCDStreamBuilder

Set a static pose for this stream.

CameraStreamBuilder Objects

class CameraStreamBuilder(_StreamBuilderBase)

Builder for a camera-parameters stream.

Returned by add_camera_stream().

add_camera_params

def add_camera_params(width: int, height: int, intrinsics: Intrinsics, *,
                      timestamp: float) -> CameraStreamBuilder

Append a camera-parameters event.

Arguments:

• width - Image width in pixels (must be >= 0).
• height - Image height in pixels (must be >= 0).
• intrinsics - Camera intrinsics (SimpleIntrinsics or AdvancedIntrinsics).
• timestamp - Scene timestamp for this event.

set_frame_of_reference

def set_frame_of_reference(
        for_id: str | FoRStreamBuilder) -> CameraStreamBuilder

Link this stream to a frame-of-reference stream.

Arguments:

• for_id - The stream name of a FoR stream, or a FoRStreamBuilder instance.

set_pose

def set_pose(pose: Pose) -> CameraStreamBuilder

Set a static pose for this stream.

FoRStreamBuilder Objects

class FoRStreamBuilder(_StreamBuilderBase)

Builder for a frame-of-reference (FoR) stream.

Returned by add_for_stream().

add_pose

def add_pose(pose: Pose, *, timestamp: float) -> FoRStreamBuilder

Append a frame-of-reference event.

Arguments:

• pose - The pose for this event (any supported rotation encoding).
• timestamp - Scene timestamp for this event.

ImageStreamBuilder Objects

class ImageStreamBuilder(_StreamBuilderBase)

Builder for an image stream linked to a camera.

Returned by add_image_stream().

add_image

def add_image(*, uri: str, timestamp: float) -> ImageStreamBuilder

Append an image event.

Arguments:

• uri - Non-empty URI pointing to the image file.
• timestamp - Scene timestamp for this event.