camera

Documentation

Overview

Package camera defines an image capturing device.

Index

• Constants
• Variables
• func DependencyTypeError(name, actual interface{}) error
• func Named(name string) resource.Name
• func NamesFromRobot(r robot.Robot) []string
• func NewPropertiesError(cameraIdentifier string) error
• func NewServer(s subtype.Service) pb.CameraServiceServer
• func NewUnimplementedInterfaceError(actual interface{}) error
• func NewUnsupportedStreamError(s StreamType) error
• func ReadImage(ctx context.Context, src gostream.VideoSource) (image.Image, func(), error)
• func SimultaneousColorDepthNext(ctx context.Context, color, depth gostream.VideoStream) (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 NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) Camera
  • func NewFromReader(ctx context.Context, reader gostream.VideoReader, ...) (Camera, error)
  • func NewFromSource(ctx context.Context, source gostream.VideoSource, ...) (Camera, error)
• type PointCloudSource
• type Properties
• type StreamType

Constants

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

The allowed types of streams that can come from a VideoSource.

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 DependencyTypeError

func DependencyTypeError(name, actual interface{}) error

DependencyTypeError is used when a resource doesn't implement the expected interface.

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 NewPropertiesError

func NewPropertiesError(cameraIdentifier string) error

NewPropertiesError returns an error specific to a failure in Properties.

func NewServer

func NewServer(s subtype.Service) pb.CameraServiceServer

NewServer constructs an camera gRPC service server.

func NewUnimplementedInterfaceError

func NewUnimplementedInterfaceError(actual interface{}) error

NewUnimplementedInterfaceError is used when there is a failed interface check.

func NewUnsupportedStreamError

func NewUnsupportedStreamError(s StreamType) error

NewUnsupportedStreamError is when the stream type is unknown.

func ReadImage

func ReadImage(ctx context.Context, src gostream.VideoSource) (image.Image, func(), error)

ReadImage reads an image from the given source that is immediately available.

func SimultaneousColorDepthNext

func SimultaneousColorDepthNext(ctx context.Context, color, depth gostream.VideoStream) (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:"intrinsic_parameters,omitempty"`
	DistortionParameters *transform.BrownConrady            `json:"distortion_parameters,omitempty"`
	Stream               string                             `json:"stream"`
	Debug                bool                               `json:"debug"`
}

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 {
	generic.Generic

	// Stream returns a stream that makes a best effort to return consecutive images
	// that may have a MIME type hint dictated in the context via gostream.WithMIMETypeHint.
	Stream(ctx context.Context, errHandlers ...gostream.ErrorHandler) (gostream.VideoStream, error)

	// NextPointCloud returns the next immediately available point cloud, not necessarily one
	// a part of a sequence. In the future, there could be streaming of point clouds.
	NextPointCloud(ctx context.Context) (pointcloud.PointCloud, error)
	// Properties returns properties that are intrinsic to the particular
	// implementation of a camera
	Properties(ctx context.Context) (Properties, error)
	Close(ctx context.Context) error
	// contains filtered or unexported methods
}

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 NewClientFromConn

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

NewClientFromConn constructs a new Client from connection passed in.

func NewFromReader

func NewFromReader(
	ctx context.Context,
	reader gostream.VideoReader,
	syst *transform.PinholeCameraModel, streamType StreamType,
) (Camera, error)

NewFromReader creates a Camera either with or without a projector. The stream type argument is for detecting whether or not the resulting camera supports return of pointcloud data in the absence of an implemented NextPointCloud function. If this is unknown or not applicable, a value of camera.Unspecified stream can be supplied.

func NewFromSource

func NewFromSource(
	ctx context.Context,
	source gostream.VideoSource,
	syst *transform.PinholeCameraModel, streamType StreamType,
) (Camera, error)

NewFromSource creates a Camera either with or without a projector. The stream type argument is for detecting whether or not the resulting camera supports return of pointcloud data in the absence of an implemented NextPointCloud function. If this is unknown or not applicable, a value of camera.Unspecified stream can be supplied.

type PointCloudSource

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

A PointCloudSource is a source that can generate pointclouds.

type Properties

type Properties struct {
	// SupportsPCD indicates that the Camera supports a valid
	// implementation of NextPointCloud
	SupportsPCD      bool
	IntrinsicParams  *transform.PinholeCameraIntrinsics
	DistortionParams transform.Distorter
}

Properties is a lookup for a camera's features and settings.

type StreamType

type StreamType string

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