videosource

Documentation

Overview

Package videosource defines various image sources typically registered as cameras in the API.

Index

• Constants
• Variables
• func Discover(ctx context.Context, getDrivers func() []driver.Driver, logger logging.Logger) (*pb.Webcams, error)
• func NewServerSource(ctx context.Context, cfg *ServerConfig, logger logging.Logger) (camera.VideoSource, error)
• func NewWebcam(ctx context.Context, deps resource.Dependencies, conf resource.Config, ...) (camera.Camera, error)
• type CameraConfig
• type Config
  • func (cfg *Config) Validate(path string) ([]string, error)
• type MergeMethodType
• type MergeMethodUnsupportedError
• type ServerConfig
• type StaticSource
  • func (ss *StaticSource) Close(ctx context.Context) error
  • func (ss *StaticSource) Images(ctx context.Context) ([]camera.NamedImage, resource.ResponseMetadata, error)
  • func (ss *StaticSource) NextPointCloud(ctx context.Context) (pointcloud.PointCloud, error)
  • func (ss *StaticSource) Read(ctx context.Context) (image.Image, func(), error)
• type WebcamConfig

Constants

const (
	// Null is a default value for the merge method.
	Null = MergeMethodType("")
	// Naive is the naive merge method.
	Naive = MergeMethodType("naive")
	// ICP is the ICP merge method.
	ICP = MergeMethodType("icp")
)

Variables

var ModelWebcam = resource.DefaultModelFamily.WithModel("webcam")

ModelWebcam is the name of the webcam component.

Functions

func Discover

func Discover(ctx context.Context, getDrivers func() []driver.Driver, logger logging.Logger) (*pb.Webcams, error)

Discover webcam attributes.

func NewServerSource

func NewServerSource(ctx context.Context, cfg *ServerConfig, logger logging.Logger) (camera.VideoSource, error)

NewServerSource creates the VideoSource that streams color/depth data from an external server at a given URL.

func NewWebcam

func NewWebcam(
	ctx context.Context,
	deps resource.Dependencies,
	conf resource.Config,
	logger logging.Logger,
) (camera.Camera, error)

NewWebcam returns a new source based on a webcam discovered from the given config.

Types

type CameraConfig

type CameraConfig struct {
	Label      string
	Status     driver.State
	Properties []prop.Media
}

CameraConfig is collection of configuration options for a camera.

type Config

type Config struct {
	TargetFrame   string   `json:"target_frame"`
	SourceCameras []string `json:"source_cameras"`
	// Closeness defines how close 2 points should be together to be considered the same point when merged.
	Closeness            float64                            `json:"proximity_threshold_mm,omitempty"`
	MergeMethod          string                             `json:"merge_method,omitempty"`
	CameraParameters     *transform.PinholeCameraIntrinsics `json:"intrinsic_parameters,omitempty"`
	DistortionParameters *transform.BrownConrady            `json:"distortion_parameters,omitempty"`
	Debug                bool                               `json:"debug,omitempty"`
}

Config is the attribute struct for joinPointCloudSource.

func (*Config) Validate

func (cfg *Config) Validate(path string) ([]string, error)

Validate ensures all parts of the config are valid.

type MergeMethodType

type MergeMethodType string

MergeMethodType Defines which strategy is used for merging.

type MergeMethodUnsupportedError

type MergeMethodUnsupportedError error

MergeMethodUnsupportedError is returned when the merge method is not supported.

type ServerConfig

type ServerConfig struct {
	resource.TriviallyValidateConfig
	CameraParameters     *transform.PinholeCameraIntrinsics `json:"intrinsic_parameters,omitempty"`
	DistortionParameters *transform.BrownConrady            `json:"distortion_parameters,omitempty"`
	Stream               string                             `json:"stream"`
	Debug                bool                               `json:"debug,omitempty"`
	URL                  string                             `json:"url"`
}

ServerConfig is the attribute struct for serverSource.

type StaticSource

type StaticSource struct {
	ColorImg image.Image
	DepthImg image.Image
	Proj     transform.Projector
}

StaticSource is a fixed, stored image. Used primarily for testing.

func (*StaticSource) Close

func (ss *StaticSource) Close(ctx context.Context) error

Close does nothing.

func (*StaticSource) Images

func (ss *StaticSource) Images(ctx context.Context) ([]camera.NamedImage, resource.ResponseMetadata, error)

Images returns the saved color and depth image if they are present.

func (*StaticSource) NextPointCloud

func (ss *StaticSource) NextPointCloud(ctx context.Context) (pointcloud.PointCloud, error)

NextPointCloud returns the point cloud from projecting the rgb and depth image using the intrinsic parameters.

func (*StaticSource) Read

func (ss *StaticSource) Read(ctx context.Context) (image.Image, func(), error)

Read returns the stored image.

type WebcamConfig

type WebcamConfig struct {
	resource.TriviallyValidateConfig
	CameraParameters     *transform.PinholeCameraIntrinsics `json:"intrinsic_parameters,omitempty"`
	DistortionParameters *transform.BrownConrady            `json:"distortion_parameters,omitempty"`
	Debug                bool                               `json:"debug,omitempty"`
	Format               string                             `json:"format,omitempty"`
	Path                 string                             `json:"video_path,omitempty"`
	Width                int                                `json:"width_px,omitempty"`
	Height               int                                `json:"height_px,omitempty"`
	FrameRate            float32                            `json:"frame_rate,omitempty"`
}

WebcamConfig is the attribute struct for webcams.