Documentation
¶
Overview ¶
Package rdk defines the Robot Development Kit. This is the open-source, on-robot portion of the Viam platform, providing viam-server and the Go SDK.
Directories
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Path | Synopsis |
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Package cli contains all business logic needed by the CLI command.
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Package cli contains all business logic needed by the CLI command. |
viam
Package main is the CLI command itself.
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Package main is the CLI command itself. |
components
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arm
Package arm defines the arm that a robot uses to manipulate objects.
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Package arm defines the arm that a robot uses to manipulate objects. |
arm/eva
Package eva implements the Eva robot from Automata.
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Package eva implements the Eva robot from Automata. |
arm/fake
Package fake implements a fake arm.
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Package fake implements a fake arm. |
arm/register
Package register registers all relevant arms
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Package register registers all relevant arms |
arm/universalrobots
Package universalrobots implements the UR arm from Universal Robots.
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Package universalrobots implements the UR arm from Universal Robots. |
arm/wrapper
Package wrapper is a package that defines an implementation that wraps a partially implemented arm
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Package wrapper is a package that defines an implementation that wraps a partially implemented arm |
arm/xarm
Package xarm implements some UFactory arms (xArm 6, xArm 7, and Lite 6).
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Package xarm implements some UFactory arms (xArm 6, xArm 7, and Lite 6). |
audioinput
Package audioinput defines an audio capturing device.
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Package audioinput defines an audio capturing device. |
audioinput/fake
Package fake implements a fake audio input.
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Package fake implements a fake audio input. |
audioinput/microphone
Package microphone implements a microphone audio input.
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Package microphone implements a microphone audio input. |
audioinput/register
Package register registers all relevant audio inputs and also API specific functions
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Package register registers all relevant audio inputs and also API specific functions |
base
Package base defines the base that a robot uses to move around.
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Package base defines the base that a robot uses to move around. |
base/fake
Package fake implements a fake base.
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Package fake implements a fake base. |
base/kinematicbase
Package kinematicbase contains wrappers that augment bases with information needed for higher level control over the base
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Package kinematicbase contains wrappers that augment bases with information needed for higher level control over the base |
base/register
Package register registers all relevant bases
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Package register registers all relevant bases |
base/sensorcontrolled
Package sensorcontrolled base implements a base with feedback control from a movement sensor
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Package sensorcontrolled base implements a base with feedback control from a movement sensor |
base/wheeled
Package wheeled implements some bases, like a wheeled base.
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Package wheeled implements some bases, like a wheeled base. |
board
Package board defines the interfaces that typically live on a single-board computer such as a Raspberry Pi.
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Package board defines the interfaces that typically live on a single-board computer such as a Raspberry Pi. |
board/beaglebone
Package beaglebone implements a beaglebone based board.
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Package beaglebone implements a beaglebone based board. |
board/customlinux
Package customlinux implements a board running Linux.
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Package customlinux implements a board running Linux. |
board/fake
Package fake implements a fake board.
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Package fake implements a fake board. |
board/genericlinux
Package genericlinux implements a Linux-based board making heavy use of sysfs (https://en.wikipedia.org/wiki/Sysfs).
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Package genericlinux implements a Linux-based board making heavy use of sysfs (https://en.wikipedia.org/wiki/Sysfs). |
board/genericlinux/buses
Package buses is for I2C and SPI boards that run Linux.
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Package buses is for I2C and SPI boards that run Linux. |
board/hat/pca9685
Package pca9685 implements a PCA9685 HAT.
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Package pca9685 implements a PCA9685 HAT. |
board/jetson
Package jetson implements a jetson-based board.
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Package jetson implements a jetson-based board. |
board/mcp3008helper
Package mcp3008helper is shared code for hooking an MCP3008 ADC up to a board.
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Package mcp3008helper is shared code for hooking an MCP3008 ADC up to a board. |
board/numato
Package numato is for numato IO boards.
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Package numato is for numato IO boards. |
board/odroid
Package odroid implements a odroid based board.
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Package odroid implements a odroid based board. |
board/orangepi
Package orangepi implements a orangepi based board.
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Package orangepi implements a orangepi based board. |
board/pi
Package pi implements a Board and its related interfaces for a Raspberry Pi.
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Package pi implements a Board and its related interfaces for a Raspberry Pi. |
board/pi/common
Package picommon contains shared information for supported and non-supported pi boards.
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Package picommon contains shared information for supported and non-supported pi boards. |
board/pi5
Package pi5 implements a raspberry pi 5 board.
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Package pi5 implements a raspberry pi 5 board. |
board/register
Package register registers all relevant Boards and also API specific functions
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Package register registers all relevant Boards and also API specific functions |
board/ti
Package ti implements a ti based board.
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Package ti implements a ti based board. |
board/upboard
Package upboard implements an Intel based board.
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Package upboard implements an Intel based board. |
camera
Package camera defines an image capturing device.
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Package camera defines an image capturing device. |
camera/align
Package align defines the camera models that are used to align a color camera's output with a depth camera's output, in order to make point clouds.
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Package align defines the camera models that are used to align a color camera's output with a depth camera's output, in order to make point clouds. |
camera/fake
Package fake implements a fake camera which always returns the same image with a user specified resolution.
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Package fake implements a fake camera which always returns the same image with a user specified resolution. |
camera/ffmpeg
Package ffmpeg provides an implementation for an ffmpeg based camera
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Package ffmpeg provides an implementation for an ffmpeg based camera |
camera/platforms/jetson
Package jetsoncamera contains information about the daughterboards and camera modules that are supported on jetson platforms.
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Package jetsoncamera contains information about the daughterboards and camera modules that are supported on jetson platforms. |
camera/register
Package register registers all relevant cameras and also API specific functions
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Package register registers all relevant cameras and also API specific functions |
camera/replaypcd
Package replaypcd implements a replay camera that can return point cloud data.
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Package replaypcd implements a replay camera that can return point cloud data. |
camera/rtsp
Package rtsp implements an RTSP camera client for RDK
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Package rtsp implements an RTSP camera client for RDK |
camera/transformpipeline
Package transformpipeline defines image sources that apply transforms on images, and can be composed into an image transformation pipeline.
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Package transformpipeline defines image sources that apply transforms on images, and can be composed into an image transformation pipeline. |
camera/ultrasonic
Package ultrasonic provides an implementation for an ultrasonic sensor wrapped as a camera
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Package ultrasonic provides an implementation for an ultrasonic sensor wrapped as a camera |
camera/velodyne
Package velodyne implements a general velodyne LIDAR as a camera.
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Package velodyne implements a general velodyne LIDAR as a camera. |
camera/videosource
Package videosource defines various image sources typically registered as cameras in the API.
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Package videosource defines various image sources typically registered as cameras in the API. |
camera/videosource/logging
Package logging is a thread-safe way to log video device information to a file.
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Package logging is a thread-safe way to log video device information to a file. |
encoder
Package encoder implements the encoder component
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Package encoder implements the encoder component |
encoder/ams
Package ams implements the AMS_AS5048 encoder
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Package ams implements the AMS_AS5048 encoder |
encoder/fake
Package fake implements a fake encoder.
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Package fake implements a fake encoder. |
encoder/incremental
Package incremental implements an incremental encoder
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Package incremental implements an incremental encoder |
encoder/register
Package register registers all relevant MovementSensors
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Package register registers all relevant MovementSensors |
encoder/single
Package single implements a single-wire odometer, such as LM393, as an encoder.
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Package single implements a single-wire odometer, such as LM393, as an encoder. |
gantry
Package gantry contains a gRPC based gantry client.
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Package gantry contains a gRPC based gantry client. |
gantry/fake
Package fake implements a fake gantry.
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Package fake implements a fake gantry. |
gantry/multiaxis
Package multiaxis implements a multi-axis gantry.
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Package multiaxis implements a multi-axis gantry. |
gantry/register
Package register registers all relevant gantries
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Package register registers all relevant gantries |
gantry/singleaxis
Package singleaxis implements a single-axis gantry.
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Package singleaxis implements a single-axis gantry. |
generic
Package generic contains a gRPC based generic client.
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Package generic contains a gRPC based generic client. |
generic/fake
Package fake implements a fake generic component.
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Package fake implements a fake generic component. |
generic/register
Package register registers the generic component
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Package register registers the generic component |
gripper
Package gripper contains a gRPC based gripper client.
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Package gripper contains a gRPC based gripper client. |
gripper/fake
Package fake implements a fake gripper.
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Package fake implements a fake gripper. |
gripper/register
Package register registers all relevant grippers and also API specific functions
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Package register registers all relevant grippers and also API specific functions |
gripper/robotiq
Package robotiq implements the gripper from robotiq.
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Package robotiq implements the gripper from robotiq. |
gripper/softrobotics
Package softrobotics implements the vacuum gripper from Soft Robotics.
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Package softrobotics implements the vacuum gripper from Soft Robotics. |
input
Package input contains a gRPC based input controller client.
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Package input contains a gRPC based input controller client. |
input/fake
Package fake implements a fake input controller.
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Package fake implements a fake input controller. |
input/gamepad
Package gamepad implements a linux gamepad as an input controller.
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Package gamepad implements a linux gamepad as an input controller. |
input/gpio
Package gpio implements a gpio/adc based input.Controller.
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Package gpio implements a gpio/adc based input.Controller. |
input/mux
Package mux implements a multiplexed input controller.
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Package mux implements a multiplexed input controller. |
input/register
Package register registers all relevant inputs
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Package register registers all relevant inputs |
input/webgamepad
Package webgamepad implements a web based input controller.
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Package webgamepad implements a web based input controller. |
motor
Package motor contains a gRPC bases motor client
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Package motor contains a gRPC bases motor client |
motor/dimensionengineering
Package dimensionengineering contains implementations of the dimensionengineering motor controls
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Package dimensionengineering contains implementations of the dimensionengineering motor controls |
motor/dmc4000
Package dmc4000 implements stepper motors behind a Galil DMC4000 series motor controller
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Package dmc4000 implements stepper motors behind a Galil DMC4000 series motor controller |
motor/fake
Package fake implements a fake motor.
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Package fake implements a fake motor. |
motor/gpio
Package gpio implements a GPIO based motor.
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Package gpio implements a GPIO based motor. |
motor/gpiostepper
Package gpiostepper implements a GPIO based stepper motor
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Package gpiostepper implements a GPIO based stepper motor |
motor/i2cmotors
Package ezopmp is a motor driver for the hydrogarden pump
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Package ezopmp is a motor driver for the hydrogarden pump |
motor/register
Package register registers all relevant motors
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Package register registers all relevant motors |
motor/roboclaw
Package roboclaw is the driver for the roboclaw motor drivers NOTE: This implementation is experimental and incomplete.
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Package roboclaw is the driver for the roboclaw motor drivers NOTE: This implementation is experimental and incomplete. |
motor/tmcstepper
Package tmcstepper implements a TMC stepper motor.
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Package tmcstepper implements a TMC stepper motor. |
motor/ulnstepper
Package uln28byj implements a GPIO based stepper motor (model: 28byj-48) with uln2003 controler.
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Package uln28byj implements a GPIO based stepper motor (model: 28byj-48) with uln2003 controler. |
movementsensor
Package movementsensor defines the interfaces of a MovementSensor
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Package movementsensor defines the interfaces of a MovementSensor |
movementsensor/adxl345
Package adxl345 implements the MovementSensor interface for the ADXL345 accelerometer.
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Package adxl345 implements the MovementSensor interface for the ADXL345 accelerometer. |
movementsensor/dualgps
Package dualgps implements a movement sensor that calculates compass heading from two gps movement sensors
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Package dualgps implements a movement sensor that calculates compass heading from two gps movement sensors |
movementsensor/fake
Package fake is a fake MovementSensor for testing
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Package fake is a fake MovementSensor for testing |
movementsensor/gpsnmea
Package gpsnmea implements an NMEA gps.
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Package gpsnmea implements an NMEA gps. |
movementsensor/gpsrtkpmtk
Package gpsrtkpmtk implements a gps using serial connection
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Package gpsrtkpmtk implements a gps using serial connection |
movementsensor/gpsrtkserial
Package gpsrtkserial implements a gps using serial connection
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Package gpsrtkserial implements a gps using serial connection |
movementsensor/gpsutils
Package gpsutils contains GPS-related code shared between multiple components.
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Package gpsutils contains GPS-related code shared between multiple components. |
movementsensor/imuvectornav
Package imuvectornav implements a component for a vectornav IMU.
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Package imuvectornav implements a component for a vectornav IMU. |
movementsensor/imuwit
Package imuwit implements wit imus.
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Package imuwit implements wit imus. |
movementsensor/merged
Package merged implements a movementsensor combining movement data from other sensors
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Package merged implements a movementsensor combining movement data from other sensors |
movementsensor/mpu6050
Package mpu6050 implements the movementsensor interface for an MPU-6050 6-axis accelerometer.
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Package mpu6050 implements the movementsensor interface for an MPU-6050 6-axis accelerometer. |
movementsensor/register
Package register registers all relevant MovementSensors
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Package register registers all relevant MovementSensors |
movementsensor/replay
Package replay implements a replay movement sensor that can return motion data.
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Package replay implements a replay movement sensor that can return motion data. |
movementsensor/wheeledodometry
Package wheeledodometry implements an odometery estimate from an encoder wheeled base.
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Package wheeledodometry implements an odometery estimate from an encoder wheeled base. |
posetracker
Package posetracker contains the interface and gRPC infrastructure for a pose tracker component
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Package posetracker contains the interface and gRPC infrastructure for a pose tracker component |
powersensor
Package powersensor defines the interfaces of a powersensor
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Package powersensor defines the interfaces of a powersensor |
powersensor/fake
Package fake is a fake PowerSensor for testing
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Package fake is a fake PowerSensor for testing |
powersensor/ina
Package ina this is blank for mac
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Package ina this is blank for mac |
powersensor/register
Package register registers all relevant motors
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Package register registers all relevant motors |
powersensor/renogy
Package renogy implements the renogy charge controller sensor for DC batteries.
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Package renogy implements the renogy charge controller sensor for DC batteries. |
register
Package register registers all components
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Package register registers all components |
sensor
Package sensor contains a gRPC based sensor client.
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Package sensor contains a gRPC based sensor client. |
sensor/bme280
Package bme280 implements a bme280 sensor for temperature, humidity, and pressure.
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Package bme280 implements a bme280 sensor for temperature, humidity, and pressure. |
sensor/ds18b20
Package ds18b20 implements a 1-wire temperature sensor
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Package ds18b20 implements a 1-wire temperature sensor |
sensor/fake
Package fake implements a fake Sensor.
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Package fake implements a fake Sensor. |
sensor/register
Package register registers all relevant Sensors
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Package register registers all relevant Sensors |
sensor/sht3xd
Package sht3xd implements a sht3x-d sensor for temperature and humidity datasheet can be found at: https://cdn-shop.adafruit.com/product-files/2857/Sensirion_Humidity_SHT3x_Datasheet_digital-767294.pdf example repo: https://github.com/esphome/esphome/tree/dev/esphome/components/sht3xd
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Package sht3xd implements a sht3x-d sensor for temperature and humidity datasheet can be found at: https://cdn-shop.adafruit.com/product-files/2857/Sensirion_Humidity_SHT3x_Datasheet_digital-767294.pdf example repo: https://github.com/esphome/esphome/tree/dev/esphome/components/sht3xd |
sensor/ultrasonic
Package ultrasonic implements an ultrasonic sensor based of the yahboom ultrasonic sensor
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Package ultrasonic implements an ultrasonic sensor based of the yahboom ultrasonic sensor |
servo
Package servo contains a gRPC bases servo client
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Package servo contains a gRPC bases servo client |
servo/fake
Package fake implements a fake servo.
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Package fake implements a fake servo. |
servo/gpio
Package gpio implements a pin based servo
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Package gpio implements a pin based servo |
servo/register
Package register registers all relevant servos
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Package register registers all relevant servos |
Package config defines the structures to configure a robot and its connected parts.
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Package config defines the structures to configure a robot and its connected parts. |
testutils
Package testutils helpers for testing the config retrievial.
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Package testutils helpers for testing the config retrievial. |
Package control package for feedback loop controls This is an Experimental package
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Package control package for feedback loop controls This is an Experimental package |
Package data contains the code involved with Viam's Data Management Platform for automatically collecting component readings from robots.
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Package data contains the code involved with Viam's Data Management Platform for automatically collecting component readings from robots. |
testutils
Package data contains the code for automatically collecting readings from robots.
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Package data contains the code for automatically collecting readings from robots. |
etc
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analyzecoverage
Package main is a go test analyzer that publishes results to a MongoDB database.
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Package main is a go test analyzer that publishes results to a MongoDB database. |
analyzetests
Package main is a go test analyzer that publishes results to a MongoDB database.
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Package main is a go test analyzer that publishes results to a MongoDB database. |
subsystem_manifest
Package main implements the subsystem_manifest generator
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Package main implements the subsystem_manifest generator |
Package examples contain a few examples of using the RDK.
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Package examples contain a few examples of using the RDK. |
customresources/apis/gizmoapi
Package gizmoapi implements the acme:component:gizmo API, a demonstraction API showcasing the available GRPC method types.
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Package gizmoapi implements the acme:component:gizmo API, a demonstraction API showcasing the available GRPC method types. |
customresources/apis/proto/api/component/gizmo/v1
Package v1 is a reverse proxy.
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Package v1 is a reverse proxy. |
customresources/apis/proto/api/service/summation/v1
Package v1 is a reverse proxy.
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Package v1 is a reverse proxy. |
customresources/apis/summationapi
Package summationapi defines a simple number summing service API for demonstration purposes.
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Package summationapi defines a simple number summing service API for demonstration purposes. |
customresources/demos/complexmodule
Package main is a module, which serves all four custom model types in the customresources examples, including both custom APIs.
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Package main is a module, which serves all four custom model types in the customresources examples, including both custom APIs. |
customresources/demos/complexmodule/client
Package main tests out all four custom models in the complexmodule.
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Package main tests out all four custom models in the complexmodule. |
customresources/demos/remoteserver
Package main is a standalone server (for use as a remote) serving a demo Gizmo component.
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Package main is a standalone server (for use as a remote) serving a demo Gizmo component. |
customresources/demos/remoteserver/client
Package main tests out a Gizmo client.
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Package main tests out a Gizmo client. |
customresources/demos/simplemodule
Package main is a module with a built-in "counter" component model, that will simply track numbers.
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Package main is a module with a built-in "counter" component model, that will simply track numbers. |
customresources/demos/simplemodule/client
Package main tests out all four custom models in the complexmodule.
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Package main tests out all four custom models in the complexmodule. |
customresources/models/mybase
Package mybase implements a base that only supports SetPower (basic forward/back/turn controls.)
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Package mybase implements a base that only supports SetPower (basic forward/back/turn controls.) |
customresources/models/mygizmo
Package mygizmo implements an acme:component:gizmo, a demonstration component that simply shows the various methods available in grpc.
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Package mygizmo implements an acme:component:gizmo, a demonstration component that simply shows the various methods available in grpc. |
customresources/models/mynavigation
Package mynavigation contains an example navigation service that only stores waypoints, and returns a fixed, configurable location.
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Package mynavigation contains an example navigation service that only stores waypoints, and returns a fixed, configurable location. |
customresources/models/mysum
Package mysum implements an acme:service:summation, a demo service which sums (or subtracts) a given list of numbers.
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Package mysum implements an acme:service:summation, a demo service which sums (or subtracts) a given list of numbers. |
mysensor
Package mysensor contains an example on creating a custom model.
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Package mysensor contains an example on creating a custom model. |
mysensor/client
Package main tests out the mySensor component type.
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Package main tests out the mySensor component type. |
mysensor/server
Package main is an example of a custom viam server.
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Package main is an example of a custom viam server. |
simpleserver
Package main shows a simple server with a fake arm.
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Package main shows a simple server with a fake arm. |
Package gostream implements a simple server for serving video streams over WebRTC.
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Package gostream implements a simple server for serving video streams over WebRTC. |
cmd/stream_audio
Package main streams audio.
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Package main streams audio. |
cmd/stream_av
Package main streams audio and video.
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Package main streams audio and video. |
cmd/stream_video
Package main streams video.
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Package main streams video. |
codec
Package codec defines the encoder and factory interfaces for encoding video frames and audio chunks.
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Package codec defines the encoder and factory interfaces for encoding video frames and audio chunks. |
codec/h264
Package h264 uses a V4L2-compatible h.264 hardware encoder (h264_v4l2m2m) to encode images.
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Package h264 uses a V4L2-compatible h.264 hardware encoder (h264_v4l2m2m) to encode images. |
codec/opus
Package opus contains the opus video codec.
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Package opus contains the opus video codec. |
codec/vpx
Package vpx contains the vpx video codec.
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Package vpx contains the vpx video codec. |
codec/x264
Package x264 contains the x264 video codec.
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Package x264 contains the x264 video codec. |
ffmpeg/avcodec
Package avcodec is a wrapper around FFmpeg/release6.1.
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Package avcodec is a wrapper around FFmpeg/release6.1. |
ffmpeg/avlog
Package avlog is libav's logging facilities See https://ffmpeg.org/doxygen/3.0/log_8h.html
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Package avlog is libav's logging facilities See https://ffmpeg.org/doxygen/3.0/log_8h.html |
ffmpeg/avutil
Package avutil is a wrapper around FFmpeg/release6.1.
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Package avutil is a wrapper around FFmpeg/release6.1. |
Package grpc provides grpc utilities.
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Package grpc provides grpc utilities. |
internal
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cloud
Package cloud implements a service to grab gRPC connections to talk to a cloud service that manages robots.
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Package cloud implements a service to grab gRPC connections to talk to a cloud service that manages robots. |
testutils/inject
Package inject provides an mock cloud connection service that can be used for testing.
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Package inject provides an mock cloud connection service that can be used for testing. |
Package logging package contains functionality for viam-server logging.
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Package logging package contains functionality for viam-server logging. |
Package ml provides some fundamental machine learning primitives.
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Package ml provides some fundamental machine learning primitives. |
inference
Package inference allows users to do inference through tflite (tf, pytorch, etc in the future)
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Package inference allows users to do inference through tflite (tf, pytorch, etc in the future) |
Package module provides services for external resource and logic modules.
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Package module provides services for external resource and logic modules. |
modmanager
Package modmanager provides the module manager for a robot.
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Package modmanager provides the module manager for a robot. |
modmanager/options
Package modmanageroptions provides Options for configuring a mod manager
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Package modmanageroptions provides Options for configuring a mod manager |
modmaninterface
Package modmaninterface abstracts the manager interface to avoid an import cycle/loop.
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Package modmaninterface abstracts the manager interface to avoid an import cycle/loop. |
multiversionmodule
Package main is a module designed to help build tests for reconfiguration logic between module versions
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Package main is a module designed to help build tests for reconfiguration logic between module versions |
testmodule
Package main is a module for testing, with an inline generic component to return internal data and perform other test functions.
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Package main is a module for testing, with an inline generic component to return internal data and perform other test functions. |
Package motionplan is a motion planning library.
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Package motionplan is a motion planning library. |
ik
Package ik contains tols for doing gradient-descent based inverse kinematics, allowing for the minimization of arbitrary metrics based on the output of calling `Transform` on the given frame.
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Package ik contains tols for doing gradient-descent based inverse kinematics, allowing for the minimization of arbitrary metrics based on the output of calling `Transform` on the given frame. |
tpspace
Package tpspace defines an assortment of precomputable trajectories which can be used to plan nonholonomic 2d motion
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Package tpspace defines an assortment of precomputable trajectories which can be used to plan nonholonomic 2d motion |
Package operation manages operation ids
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Package operation manages operation ids |
Package pointcloud defines a point cloud and provides an implementation for one.
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Package pointcloud defines a point cloud and provides an implementation for one. |
Package protoutils are a collection of util methods for using proto in rdk
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Package protoutils are a collection of util methods for using proto in rdk |
Package referenceframe defines the api and does the math of translating between reference frames Useful for if you have a camera, connected to a gripper, connected to an arm, and need to translate the camera reference frame to the arm reference frame, if you've found something in the camera, and want to move the gripper + arm to get it.
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Package referenceframe defines the api and does the math of translating between reference frames Useful for if you have a camera, connected to a gripper, connected to an arm, and need to translate the camera reference frame to the arm reference frame, if you've found something in the camera, and want to move the gripper + arm to get it. |
urdf
Package urdf provides functions which enable *.urdf files to be used within RDK
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Package urdf provides functions which enable *.urdf files to be used within RDK |
Package resource contains types that help identify and classify resources (components/services) of a robot.
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Package resource contains types that help identify and classify resources (components/services) of a robot. |
Package rimage defines fundamental image and color processing primitives.
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Package rimage defines fundamental image and color processing primitives. |
cmd/stream_camera
Package main streams a specific camera over WebRTC.
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Package main streams a specific camera over WebRTC. |
depthadapter
Package depthadapter is a simple package that turns a DepthMap into a point cloud using intrinsic parameters of a camera.
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Package depthadapter is a simple package that turns a DepthMap into a point cloud using intrinsic parameters of a camera. |
transform
Package transform provides image transformation utilities relying on camera parameters.
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Package transform provides image transformation utilities relying on camera parameters. |
transform/cmd/depth_to_color
Get the coordinates of a depth pixel in the depth map in the reference frame of the color image $./depth_to_color -conf=/path/to/intrinsics/extrinsic/file X Y Z
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Get the coordinates of a depth pixel in the depth map in the reference frame of the color image $./depth_to_color -conf=/path/to/intrinsics/extrinsic/file X Y Z |
transform/cmd/extrinsic_calibration
Given at least 4 corresponding points, and the intrinsic matrices of both cameras, computes the rigid transform (rotation + translation) that would be the extrinsic transformation from camera 1 to camera 2.
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Given at least 4 corresponding points, and the intrinsic matrices of both cameras, computes the rigid transform (rotation + translation) that would be the extrinsic transformation from camera 1 to camera 2. |
Package robot defines the robot which is the root of all robotic parts.
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Package robot defines the robot which is the root of all robotic parts. |
client
Package client contains a gRPC based robot.Robot client.
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Package client contains a gRPC based robot.Robot client. |
framesystem
Package framesystem defines the frame system service which is responsible for managing a stateful frame system
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Package framesystem defines the frame system service which is responsible for managing a stateful frame system |
impl
Package robotimpl defines implementations of robot.Robot and robot.LocalRobot.
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Package robotimpl defines implementations of robot.Robot and robot.LocalRobot. |
packages
Package packages contains utilities and manager to sync Viam packages defined in the RDK config from the Viam app to the local robot.
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Package packages contains utilities and manager to sync Viam packages defined in the RDK config from the Viam app to the local robot. |
packages/testutils
Package testutils is test helpers for packages.
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Package testutils is test helpers for packages. |
server
Package server contains a gRPC based robot.Robot server implementation.
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Package server contains a gRPC based robot.Robot server implementation. |
web
Package web provides gRPC/REST/GUI APIs to control and monitor a robot.
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Package web provides gRPC/REST/GUI APIs to control and monitor a robot. |
web/options
Package weboptions provides Options for configuring a web server
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Package weboptions provides Options for configuring a web server |
web/stream
Package webstream provides controls for streaming from the web server.
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Package webstream provides controls for streaming from the web server. |
Package ros implements functionality that bridges the gap between `rdk` and ROS
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Package ros implements functionality that bridges the gap between `rdk` and ROS |
rosbag_parser/cmd
Package main is a rosbag parser.
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Package main is a rosbag parser. |
services
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baseremotecontrol
Package baseremotecontrol implements a remote control for a base.
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Package baseremotecontrol implements a remote control for a base. |
baseremotecontrol/builtin
Package builtin implements a remote control for a base.
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Package builtin implements a remote control for a base. |
baseremotecontrol/register
Package register registers all relevant baseremotecontrol models and also API specific functions
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Package register registers all relevant baseremotecontrol models and also API specific functions |
datamanager
Package datamanager contains a gRPC based datamanager service server
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Package datamanager contains a gRPC based datamanager service server |
datamanager/builtin
Package builtin contains a service type that can be used to capture data from a robot's components.
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Package builtin contains a service type that can be used to capture data from a robot's components. |
datamanager/datacapture
Package datacapture contains tools for interacting with Viam datacapture files.
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Package datacapture contains tools for interacting with Viam datacapture files. |
datamanager/datasync
Package datasync contains interfaces for syncing data from robots to the app.viam.com cloud.
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Package datasync contains interfaces for syncing data from robots to the app.viam.com cloud. |
datamanager/internal
Package internal implements a data manager service definition with additional exported functions for the purpose of testing
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Package internal implements a data manager service definition with additional exported functions for the purpose of testing |
datamanager/register
Package register registers all relevant datamanager models and also API specific functions
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Package register registers all relevant datamanager models and also API specific functions |
generic
Package generic contains a gRPC based generic client.
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Package generic contains a gRPC based generic client. |
generic/fake
Package fake implements a fake generic service.
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Package fake implements a fake generic service. |
generic/register
Package register registers the generic service
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Package register registers the generic service |
mlmodel
Package mlmodel defines the client and server for a service that can take in a map of input tensors/arrays, pass them through an inference engine, and then return a map output tensors/arrays.
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Package mlmodel defines the client and server for a service that can take in a map of input tensors/arrays, pass them through an inference engine, and then return a map output tensors/arrays. |
mlmodel/register
Package register registers all relevant ML model services
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Package register registers all relevant ML model services |
mlmodel/tflitecpu
Package tflitecpu runs tflite model files on the host's CPU, as an implementation the ML model service.
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Package tflitecpu runs tflite model files on the host's CPU, as an implementation the ML model service. |
motion
Package motion is the service that allows you to plan and execute movements.
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Package motion is the service that allows you to plan and execute movements. |
motion/builtin
Package builtin implements a motion service.
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Package builtin implements a motion service. |
motion/builtin/state
Package state provides apis for motion builtin plan executions and manages the state of those executions
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Package state provides apis for motion builtin plan executions and manages the state of those executions |
motion/explore
Package explore implements a motion service for exploration.
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Package explore implements a motion service for exploration. |
motion/register
Package register registers all relevant motion services and API specific functions.
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Package register registers all relevant motion services and API specific functions. |
navigation
Package navigation is the service that allows you to navigate along waypoints.
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Package navigation is the service that allows you to navigate along waypoints. |
navigation/builtin
Package builtin implements a navigation service.
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Package builtin implements a navigation service. |
navigation/register
Package register registers all relevant navigation models and API specific functions.
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Package register registers all relevant navigation models and API specific functions. |
register
Package register registers all services
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Package register registers all services |
sensors
Package sensors contains a gRPC based sensors service client
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Package sensors contains a gRPC based sensors service client |
sensors/builtin
Package builtin implements the default sensors service.
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Package builtin implements the default sensors service. |
sensors/register
Package register registers all relevant sensors models and also API specific functions
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Package register registers all relevant sensors models and also API specific functions |
shell
Package shell contains a shell service, along with a gRPC server and client
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Package shell contains a shell service, along with a gRPC server and client |
shell/builtin
Package builtin contains a shell service, along with a gRPC server and client
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Package builtin contains a shell service, along with a gRPC server and client |
shell/register
Package register registers all relevant shell models and also API specific functions
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Package register registers all relevant shell models and also API specific functions |
slam
Package slam implements simultaneous localization and mapping.
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Package slam implements simultaneous localization and mapping. |
slam/fake
Package fake implements a fake slam service
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Package fake implements a fake slam service |
slam/grpchelper
Package grpchelper implements helper functions to be used with slam service grpc clients
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Package grpchelper implements helper functions to be used with slam service grpc clients |
slam/internal/testhelper
Package testhelper implements a slam service definition with additional exported functions for the purpose of testing
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Package testhelper implements a slam service definition with additional exported functions for the purpose of testing |
slam/register
Package register registers all relevant slam models and also API specific functions
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Package register registers all relevant slam models and also API specific functions |
vision
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.
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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. |
vision/colordetector
Package colordetector uses a heuristic based on hue and connected components to create bounding boxes around objects of a specified color.
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Package colordetector uses a heuristic based on hue and connected components to create bounding boxes around objects of a specified color. |
vision/detectionstosegments
Package detectionstosegments uses a 2D segmenter and a camera that can project its images to 3D to project the bounding boxes to 3D in order to created a segmented point cloud.
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Package detectionstosegments uses a 2D segmenter and a camera that can project its images to 3D to project the bounding boxes to 3D in order to created a segmented point cloud. |
vision/mlvision
Package mlvision uses an underlying model from the ML model service as a vision model, and wraps the ML model with the vision service methods.
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Package mlvision uses an underlying model from the ML model service as a vision model, and wraps the ML model with the vision service methods. |
vision/obstaclesdepth
Package obstaclesdepth uses an underlying depth camera to fulfill GetObjectPointClouds, projecting its depth map to a point cloud, an then applying a point cloud clustering algorithm
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Package obstaclesdepth uses an underlying depth camera to fulfill GetObjectPointClouds, projecting its depth map to a point cloud, an then applying a point cloud clustering algorithm |
vision/obstaclesdistance
Package obstaclesdistance uses an underlying camera to fulfill vision service methods, specifically GetObjectPointClouds, which performs several queries of NextPointCloud and returns a median point.
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Package obstaclesdistance uses an underlying camera to fulfill vision service methods, specifically GetObjectPointClouds, which performs several queries of NextPointCloud and returns a median point. |
vision/obstaclespointcloud
Package obstaclespointcloud uses the 3D radius clustering algorithm as defined in the RDK vision/segmentation package as vision model.
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Package obstaclespointcloud uses the 3D radius clustering algorithm as defined in the RDK vision/segmentation package as vision model. |
vision/register
Package register registers all relevant vision models and also API specific functions
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Package register registers all relevant vision models and also API specific functions |
Package session provides support for robot session management.
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Package session provides support for robot session management. |
Package spatialmath defines spatial mathematical operations.
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Package spatialmath defines spatial mathematical operations. |
Package testutils implements test utilities.
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Package testutils implements test utilities. |
inject
Package inject provides dependency injected structures for mocking interfaces.
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Package inject provides dependency injected structures for mocking interfaces. |
robottestutils
Package robottestutils provides helper functions in testing
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Package robottestutils provides helper functions in testing |
vcamera
Package vcamera creates and streams video to virtual V4L2 capture devices on Linux.
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Package vcamera creates and streams video to virtual V4L2 capture devices on Linux. |
vcamera/cmd
This package creates two virtual cameras and streams test video to them until the program halts (with ctrl-c for example).
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This package creates two virtual cameras and streams test video to them until the program halts (with ctrl-c for example). |
Package utils contains all utility functions that currently have no better home than here.
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Package utils contains all utility functions that currently have no better home than here. |
contextutils
Package contextutils provides utilities for dealing with contexts such as adding and retrieving metadata to/from a context, and handling context timeouts.
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Package contextutils provides utilities for dealing with contexts such as adding and retrieving metadata to/from a context, and handling context timeouts. |
test_detector
package main: this is called by the utils test suite to confirm the Testing() test is false in prod.
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package main: this is called by the utils test suite to confirm the Testing() test is false in prod. |
Package vision implements computer vision algorithms.
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Package vision implements computer vision algorithms. |
classification
Package classification implements a classifier for use as a visModel in the vision service
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Package classification implements a classifier for use as a visModel in the vision service |
delaunay
Package delaunay implements 2d Delaunay triangulation
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Package delaunay implements 2d Delaunay triangulation |
keypoints
Package keypoints contains the implementation of keypoints in an image.
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Package keypoints contains the implementation of keypoints in an image. |
objectdetection
Package objectdetection defines a functional way to create object detection pipelines by feeding in images from a gostream.VideoSource source.
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Package objectdetection defines a functional way to create object detection pipelines by feeding in images from a gostream.VideoSource source. |
segmentation
Package segmentation implements object segmentation algorithms.
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Package segmentation implements object segmentation algorithms. |
Package web contains the root of a web server.
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Package web contains the root of a web server. |
cmd/directremotecontrol
Package main provides a utility to run a remote control only web server.
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Package main provides a utility to run a remote control only web server. |
cmd/server
Package main provides a server offering gRPC/REST/GUI APIs to control and monitor a robot.
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Package main provides a server offering gRPC/REST/GUI APIs to control and monitor a robot. |
server
Package server implements the entry point for running a robot web server.
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Package server implements the entry point for running a robot web server. |
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