camera

Documentation

Overview

Package camera defines a frame capturing device.

Package camera contains a gRPC based camera client.

Package camera contains a gRPC based camera service server.

Index

• Constants
• Variables
• func GetProjector(ctx context.Context, attrs *AttrConfig, parentSource Camera) (rimage.Projector, bool)
• func Named(name string) resource.Name
• func NamesFromRobot(r robot.Robot) []string
• func NewServer(s subtype.Service) pb.CameraServiceServer
• func NewUnsupportedStreamError(s StreamType) error
• func SimultaneousColorDepthNext(ctx context.Context, color, depth gostream.ImageSource) (image.Image, *rimage.DepthMap)
• func WrapWithReconfigurable(r interface{}) (resource.Reconfigurable, error)
• type AttrConfig
  • func CommonCameraAttributes(attributes config.AttributeMap) (*AttrConfig, error)
• type Camera
  • func FromDependencies(deps registry.Dependencies, name string) (Camera, error)
  • func FromRobot(r robot.Robot, name string) (Camera, error)
  • func New(imgSrc gostream.ImageSource, proj rimage.Projector) (Camera, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) Camera
• type FrameSource
• type PointCloudSource
• type StreamType

Constants

const (
	UnspecifiedStream = StreamType("")
	ColorStream       = StreamType("color")
	DepthStream       = StreamType("depth")
)

The allowed types of streams that can come from an ImageSource.

const SubtypeName = resource.SubtypeName("camera")

SubtypeName is a constant that identifies the camera resource subtype string.

Variables

var Subtype = resource.NewSubtype(
	resource.ResourceNamespaceRDK,
	resource.ResourceTypeComponent,
	SubtypeName,
)

Subtype is a constant that identifies the camera resource subtype.

Functions

func GetProjector

func GetProjector(ctx context.Context, attrs *AttrConfig, parentSource Camera) (rimage.Projector, bool)

GetProjector either gets the camera parameters from the config, or if the camera has a parent source, can copy over the projector from there. If the camera doesn't have a projector, will return false.

func Named

func Named(name string) resource.Name

Named is a helper for getting the named cameras's typed resource name.

func NamesFromRobot

func NamesFromRobot(r robot.Robot) []string

NamesFromRobot is a helper for getting all camera names from the given Robot.

func NewServer

func NewServer(s subtype.Service) pb.CameraServiceServer

NewServer constructs an camera gRPC service server.

func NewUnsupportedStreamError

func NewUnsupportedStreamError(s StreamType) error

NewUnsupportedStreamError is when the stream type is unknown.

func SimultaneousColorDepthNext

func SimultaneousColorDepthNext(ctx context.Context, color, depth gostream.ImageSource) (image.Image, *rimage.DepthMap)

SimultaneousColorDepthNext will call Next on both the color and depth camera as simultaneously as possible.

func WrapWithReconfigurable

func WrapWithReconfigurable(r interface{}) (resource.Reconfigurable, error)

WrapWithReconfigurable wraps a camera with a reconfigurable and locking interface.

Types

type AttrConfig

type AttrConfig struct {
	CameraParameters *transform.PinholeCameraIntrinsics `json:"camera_parameters"`
	Stream           string                             `json:"stream"`
	Hide             bool                               `json:"hide"`
	Debug            bool                               `json:"debug"`
	Dump             bool                               `json:"dump"`
}

AttrConfig is exported to be used as an attribute map for settings common to all camera types.

func CommonCameraAttributes

func CommonCameraAttributes(attributes config.AttributeMap) (*AttrConfig, error)

CommonCameraAttributes extracts the common camera attributes.

type Camera

type Camera interface {
	gostream.ImageSource
	generic.Generic
	NextPointCloud(ctx context.Context) (pointcloud.PointCloud, error)
	GetProperties(ctx context.Context) (rimage.Projector, error)
	GetFrame(ctx context.Context, mimeType string) ([]byte, string, int64, int64, error)
}

A Camera represents anything that can capture frames.

func FromDependencies

func FromDependencies(deps registry.Dependencies, name string) (Camera, error)

FromDependencies is a helper for getting the named camera from a collection of dependencies.

func FromRobot

func FromRobot(r robot.Robot, name string) (Camera, error)

FromRobot is a helper for getting the named Camera from the given Robot.

func New

func New(imgSrc gostream.ImageSource, proj rimage.Projector) (Camera, error)

New creates a Camera either with or without a projector.

func NewClientFromConn

func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) Camera

NewClientFromConn constructs a new Client from connection passed in.

type FrameSource

type FrameSource interface {
	GetFrame(ctx context.Context, mimeType string) ([]byte, string, int64, int64, error)
}

A FrameSource is a source that can generate frames.

type PointCloudSource

type PointCloudSource interface {
	NextPointCloud(ctx context.Context) (pointcloud.PointCloud, error)
}

A PointCloudSource is a source that can generate pointclouds.

type StreamType

type StreamType string

StreamType specifies what kind of image stream is coming from the camera.