Web Socket
Web Socket documentation for localization

Web Socket Server - Deprecated

server address to connect to web socket backend
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var server = "ws://localization.arway.app/req_pose"
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Sent message during each request

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{
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"developer_token": Developer Token,
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"cloud_Ids": Int List of<cloud_id>,
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"width": Image_width,
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"height": Image_height,
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"channel": 3,
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"Camera_fx": camera_focallenght_x,
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"Camera_fy": camera_focallenght_y,
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"Camera_px": camera_principlepoint_x,
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"Camera_py": camera_principlepoint_y,
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"timestamp": image_timestamps,
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"image": <image_byte_date_base64_Jpeg/png>
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"version": SDK_version
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}
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Received message if pose found

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{
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"setparam": true,
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"poseAvailable": true,
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"counter": localizationCounter,
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"pose": "poseArray"[R00,R01,R02,PX,R10,R11,R12,PY,R20,R21,R22,PZ]
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"Cloud_Id": 345 (map which was localized)
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}
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Last modified 4mo ago