fake

Documentation

Overview

Package fake implements a fake camera which always returns the same image with a user specified resolution.

Index

• Variables
• func NewCamera(ctx context.Context, _ resource.Dependencies, conf resource.Config, ...) (camera.Camera, error)
• type Camera
  • func (c *Camera) Close(ctx context.Context) error
  • func (c *Camera) NextPointCloud(ctx context.Context) (pointcloud.PointCloud, error)
  • func (c *Camera) Read(ctx context.Context) (image.Image, func(), error)
  • func (c *Camera) SubscribeRTP(ctx context.Context, bufferSize int, packetsCB rtppassthrough.PacketCallback) (rtppassthrough.Subscription, error)
  • func (c *Camera) Unsubscribe(ctx context.Context, id rtppassthrough.SubscriptionID) error
• type Config
  • func (conf *Config) Validate(path string) ([]string, error)
• 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)

Variables

var (
	// Model is the model of the fake buildin camera.
	Model = resource.DefaultModelFamily.WithModel("fake")
	// ErrRTPPassthroughNotEnabled indicates that rtp_passthrough is not enabled.
	ErrRTPPassthroughNotEnabled = errors.New("rtp_passthrough not enabled")
)

Functions

func NewCamera

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

NewCamera returns a new fake camera.

Types

type Camera

type Camera struct {
	resource.Named
	resource.AlwaysRebuild

	Model          *transform.PinholeCameraModel
	Width          int
	Height         int
	Animated       bool
	RTPPassthrough bool
	// contains filtered or unexported fields
}

Camera is a fake camera that always returns the same image.

func (*Camera) Close

func (c *Camera) Close(ctx context.Context) error

Close does nothing.

func (*Camera) NextPointCloud

func (c *Camera) NextPointCloud(ctx context.Context) (pointcloud.PointCloud, error)

NextPointCloud always returns a pointcloud of a yellow to blue gradient, with the depth determined by the intensity of blue.

func (*Camera) Read

func (c *Camera) Read(ctx context.Context) (image.Image, func(), error)

Read always returns the same image of a yellow to blue gradient.

func (*Camera) SubscribeRTP

func (c *Camera) SubscribeRTP(
	ctx context.Context,
	bufferSize int,
	packetsCB rtppassthrough.PacketCallback,
) (rtppassthrough.Subscription, error)

SubscribeRTP begins a subscription to receive RTP packets.

func (*Camera) Unsubscribe

func (c *Camera) Unsubscribe(ctx context.Context, id rtppassthrough.SubscriptionID) error

Unsubscribe terminates the subscription.

type Config

type Config struct {
	Width          int  `json:"width,omitempty"`
	Height         int  `json:"height,omitempty"`
	Animated       bool `json:"animated,omitempty"`
	RTPPassthrough bool `json:"rtp_passthrough,omitempty"`
}

Config are the attributes of the fake camera config.

func (*Config) Validate

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

Validate checks that the config attributes are valid for a fake camera.

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.