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 Named(name string) resource.Name
• func NewRPCServiceServer(coll resource.APIResourceCollection[Service]) interface{}
• type Service
  • func FromDependencies(deps resource.Dependencies, name string) (Service, error)
  • func FromRobot(r robot.Robot, name string) (Service, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, remoteName string, ...) (Service, error)
  • func NewService(name resource.Name, r robot.Robot, c func(ctx context.Context) error, ...) (Service, error)

Constants

const SubtypeName = "vision"

SubtypeName is the name of the type of service.

Variables

var API = resource.APINamespaceRDK.WithServiceType(SubtypeName)

API is a variable that identifies the vision service resource API.

Functions

func Named

func Named(name string) resource.Name

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

func NewRPCServiceServer

func NewRPCServiceServer(coll resource.APIResourceCollection[Service]) interface{}

NewRPCServiceServer constructs a vision gRPC service server. It is intentionally untyped to prevent use outside of tests.

Types

type Service

type Service interface {
	resource.Resource
	DetectionsFromCamera(ctx context.Context, cameraName string, extra map[string]interface{}) ([]objectdetection.Detection, error)
	Detections(ctx context.Context, img image.Image, extra map[string]interface{}) ([]objectdetection.Detection, error)
	// classifier methods
	ClassificationsFromCamera(
		ctx context.Context,
		cameraName string,
		n int,
		extra map[string]interface{},
	) (classification.Classifications, error)
	Classifications(
		ctx context.Context,
		img image.Image,
		n int,
		extra map[string]interface{},
	) (classification.Classifications, error)
	// segmenter methods
	GetObjectPointClouds(ctx context.Context, cameraName string, extra map[string]interface{}) ([]*viz.Object, error)
}

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

func FromDependencies

func FromDependencies(deps resource.Dependencies, name string) (Service, error)

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

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,
	remoteName string,
	name resource.Name,
	logger golog.Logger,
) (Service, error)

NewClientFromConn constructs a new Client from connection passed in.

func NewService

func NewService(
	name resource.Name,
	r robot.Robot,
	c func(ctx context.Context) error,
	cf classification.Classifier,
	df objectdetection.Detector,
	s3f segmentation.Segmenter,
) (Service, error)

NewService wraps the vision model in the struct that fulfills the vision service interface.