camera

Documentation

Overview

Package camera defines an image capturing device.

Index

• Constants
• Variables
• func DependencyTypeError(name string, actual interface{}) error
• func Named(name string) resource.Name
• func NamesFromRobot(r robot.Robot) []string
• func NewPinholeModelWithBrownConradyDistortion(pinholeCameraIntrinsics *transform.PinholeCameraIntrinsics, ...) transform.PinholeCameraModel
• func NewPropertiesError(cameraIdentifier string) error
• func NewServer(s subtype.Service) pb.CameraServiceServer
• func NewUnimplementedInterfaceError(actual interface{}) error
• func NewUnsupportedImageTypeError(s ImageType) 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 SourceFromCamera(cam Camera) (gostream.VideoSource, error)
• func WrapWithReconfigurable(r interface{}, name resource.Name) (resource.Reconfigurable, 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 ImageType
• type LivenessMonitor
• type PointCloudSource
• type Properties

Constants

const (
	UnspecifiedStream = ImageType("")
	ColorStream       = ImageType("color")
	DepthStream       = ImageType("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 string, 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 camera'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 NewPinholeModelWithBrownConradyDistortion

func NewPinholeModelWithBrownConradyDistortion(pinholeCameraIntrinsics *transform.PinholeCameraIntrinsics,
	distortion *transform.BrownConrady,
) transform.PinholeCameraModel

NewPinholeModelWithBrownConradyDistortion creates a transform.PinholeCameraModel from a *transform.PinholeCameraIntrinsics and a *transform.BrownConrady. If *transform.BrownConrady is `nil`, transform.PinholeCameraModel.Distortion is not set & remains nil, to prevent https://go.dev/doc/faq#nil_error.

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 NewUnsupportedImageTypeError

func NewUnsupportedImageTypeError(s ImageType) error

NewUnsupportedImageTypeError 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 SourceFromCamera

func SourceFromCamera(cam Camera) (gostream.VideoSource, error)

SourceFromCamera returns a gostream.VideoSource from a camera.Camera if possible, else nil.

func WrapWithReconfigurable

func WrapWithReconfigurable(r interface{}, name resource.Name) (resource.Reconfigurable, error)

WrapWithReconfigurable wraps a camera with a reconfigurable and locking interface.

Types

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, imageType ImageType,
) (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, imageType ImageType,
) (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 ImageType

type ImageType string

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

type LivenessMonitor

type LivenessMonitor interface {
	Monitor(notifyReset func())
}

A LivenessMonitor is responsible for monitoring the liveness of a camera. An example is connectivity. Since the model itself knows best about how to maintain this state, the reconfigurable offers a safe way to notify if a state needs to be reset due to some exceptional event (like a reconnect). It is expected that the monitoring code is tied to the lifetime of the resource and once the resource is closed, so should the monitor. That is, it should no longer send any resets once a Close on its associated resource has returned.

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
	ImageType        ImageType
	IntrinsicParams  *transform.PinholeCameraIntrinsics
	DistortionParams transform.Distorter
}

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