Is there any way to stream CloudWatch Metrics to a Lambda?

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One can subscribe a lambda to a CloudWatch log group, and the new log entries will be streamed to that lambda. Is there a way to do the same for metrics?

E.x. I want to stream CPU Utilization of a certain instance to a lambda for further processing (e.g. sending it to an elasticsearch domain).

I haven't found any way of doing it as of yet.

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