vision

Documentation

Overview

Package vision is the service that allows you to access various computer vision algorithms (like detection, segmentation, tracking, etc) that usually only require a camera or image input.

Index

• Constants
• Variables
• func FindFirstName(r robot.Robot) string
• func Named(name string) resource.Name
• func NewServer(s subtype.Service) pb.VisionServiceServer
• func NewUnimplementedInterfaceError(actual interface{}) error
• func WrapWithReconfigurable(s interface{}) (resource.Reconfigurable, error)
• type Attributes
• type Service
  • func FirstFromRobot(r robot.Robot) (Service, error)
  • func FromRobot(r robot.Robot, name string) (Service, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) Service
• type VisModelConfig
• type VisModelType

Constants

const SubtypeName = resource.SubtypeName("vision")

SubtypeName is the name of the type of service.

Variables

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

Subtype is a constant that identifies the vision service resource subtype.

Functions

func FindFirstName

func FindFirstName(r robot.Robot) string

FindFirstName returns name of first vision service found.

func Named

func Named(name string) resource.Name

Named is a helper for getting the named vision's typed resource name. RSDK-347 Implements vision's Named.

func NewServer

func NewServer(s subtype.Service) pb.VisionServiceServer

NewServer constructs a vision gRPC service server.

func NewUnimplementedInterfaceError

func NewUnimplementedInterfaceError(actual interface{}) error

NewUnimplementedInterfaceError is used when there is a failed interface check.

func WrapWithReconfigurable

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

WrapWithReconfigurable wraps a vision service as a Reconfigurable.

Types

type Attributes

type Attributes struct {
	ModelRegistry []VisModelConfig `json:"register_models"`
}

Attributes contains a list of the user-provided details necessary to register a new vision service.

type Service

type Service interface {
	// model parameters
	GetModelParameterSchema(ctx context.Context, modelType VisModelType) (*jsonschema.Schema, error)
	// detector methods
	DetectorNames(ctx context.Context) ([]string, error)
	AddDetector(ctx context.Context, cfg VisModelConfig) error
	RemoveDetector(ctx context.Context, detectorName string) error
	DetectionsFromCamera(ctx context.Context, cameraName, detectorName string) ([]objdet.Detection, error)
	Detections(ctx context.Context, img image.Image, detectorName string) ([]objdet.Detection, error)
	// classifier methods
	ClassifierNames(ctx context.Context) ([]string, error)
	AddClassifier(ctx context.Context, cfg VisModelConfig) error
	RemoveClassifier(ctx context.Context, classifierName string) error
	ClassificationsFromCamera(ctx context.Context, cameraName, classifierName string, n int) (classification.Classifications, error)
	Classifications(ctx context.Context, img image.Image, classifierName string, n int) (classification.Classifications, error)
	// segmenter methods
	SegmenterNames(ctx context.Context) ([]string, error)
	AddSegmenter(ctx context.Context, cfg VisModelConfig) error
	RemoveSegmenter(ctx context.Context, segmenterName string) error
	GetObjectPointClouds(ctx context.Context, cameraName, segmenterName string) ([]*viz.Object, error)
}

A Service that implements various computer vision algorithms like detection and segmentation.

func FirstFromRobot

func FirstFromRobot(r robot.Robot) (Service, error)

FirstFromRobot returns the first vision service in this robot.

func FromRobot

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

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

func NewClientFromConn

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

NewClientFromConn constructs a new Client from connection passed in.

type VisModelConfig

type VisModelConfig struct {
	Name       string              `json:"name"`
	Type       string              `json:"type"`
	Parameters config.AttributeMap `json:"parameters"`
}

VisModelConfig specifies the name of the detector, the type of detector, and the necessary parameters needed to build the detector.

type VisModelType

type VisModelType string

VisModelType defines what vision models are known by the vision service.