Skip to main content
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:

​
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:

​
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.