videosource

Documentation

Overview

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

Index

• Constants
• func Discover(ctx context.Context, getDrivers func() []driver.Driver) (*pb.Webcams, error)
• func NewServerSource(ctx context.Context, cfg *ServerAttrs, logger golog.Logger) (camera.Camera, error)
• func NewWebcamSource(ctx context.Context, attrs *WebcamAttrs, logger golog.Logger) (camera.Camera, error)
• type CameraConfig
• type JoinAttrs
  • func (cfg *JoinAttrs) Validate(path string) ([]string, error)
• type MergeMethodType
• type MergeMethodUnsupportedError
• type ServerAttrs
• type StaticSource
  • func (ss *StaticSource) Close(ctx context.Context) error
  • func (ss *StaticSource) NextPointCloud(ctx context.Context) (pointcloud.PointCloud, error)
  • func (ss *StaticSource) Read(ctx context.Context) (image.Image, func(), error)
• type WebcamAttrs

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")
)

Functions

func Discover

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

Discover webcam attributes.

func NewServerSource

func NewServerSource(ctx context.Context, cfg *ServerAttrs, logger golog.Logger) (camera.Camera, error)

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

func NewWebcamSource

func NewWebcamSource(ctx context.Context, attrs *WebcamAttrs, logger golog.Logger) (camera.Camera, error)

NewWebcamSource returns a new source based on a webcam discovered from the given attributes.

Types

type CameraConfig

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

CameraConfig is collection of configuration options for a camera.

type JoinAttrs

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

JoinAttrs is the attribute struct for joinPointCloudSource.

func (*JoinAttrs) Validate

func (cfg *JoinAttrs) 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 ServerAttrs

type ServerAttrs struct {
	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"`
}

ServerAttrs 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) 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 WebcamAttrs

type WebcamAttrs struct {
	CameraParameters     *transform.PinholeCameraIntrinsics `json:"intrinsic_parameters,omitempty"`
	DistortionParameters *transform.BrownConrady            `json:"distortion_parameters,omitempty"`
	Stream               string                             `json:"stream"`
	Debug                bool                               `json:"debug,omitempty"`
	Format               string                             `json:"format"`
	Path                 string                             `json:"video_path"`
	PathPattern          string                             `json:"video_path_pattern"`
	Width                int                                `json:"width_px"`
	Height               int                                `json:"height_px"`
}

WebcamAttrs is the attribute struct for webcams.