A Camera represents any physical hardware that can capture frames. More...

#include "components/camera.hpp"

Inheritance diagram for viam::sdk::Camera:

Classes
struct	distortion_parameters
	The distortion parameters of the camera. More...

struct	image_collection
	a collection of images that were collected from a camera all at the same time. More...

struct	intrinsic_parameters

struct	point_cloud
	The points and mime type of a point cloud. More...

struct	properties
	The camera's supported features and settings. More...

struct	raw_image
	the raw bytes, mime type of an image, and name of the source that produced it. More...

Public Types
using	mime_types = std::vector<std::string>
	The supported mime types of the camera— a type alias.

using	depth_map = xt::xarray<uint16_t>

Public Member Functions
virtual AttributeMap	do_command (const AttributeMap &command)=0
	Send/receive arbitrary commands to the resource.

raw_image	get_image (std::string mime_type)
	Get the next image from the camera as a raw image.

virtual raw_image	get_image (std::string mime_type, const AttributeMap &extra)=0
	Get the next image from the camera as a raw image.

virtual image_collection	get_images ()=0
	Get the next images from the camera as a vector of raw images with names and metadata.

point_cloud	get_point_cloud (std::string mime_type)
	Get the next `point_cloud` from the camera.

virtual point_cloud	get_point_cloud (std::string mime_type, const AttributeMap &extra)=0
	Get the next `point_cloud` from the camera.

std::vector< GeometryConfig >	get_geometries ()
	Returns `GeometryConfig`s associated with the calling camera.

virtual std::vector< GeometryConfig >	get_geometries (const AttributeMap &extra)=0
	Returns `GeometryConfig`s associated with the calling camera.

virtual properties	get_properties ()=0
	Get the camera's properties.

API	api () const override
	Returns the `API` associated with a particular resource.

Public Member Functions inherited from viam::sdk::Component
viam::common::v1::ResourceName	get_resource_name (std::string name) const override
	Returns a `ResourceName` for a particular resource name.

Public Member Functions inherited from viam::sdk::Resource
	Resource (std::string name)

virtual std::string	name () const
	Return the resource's name.

Static Public Member Functions
static std::vector< unsigned char >	encode_depth_map (const Camera::depth_map &m)

static Camera::depth_map	decode_depth_map (const std::vector< unsigned char > &data)

static std::string	normalize_mime_type (const std::string &str)
	remove any extra suffix's from the mime type string.

static std::string	format_to_MIME_string (viam::component::camera::v1::Format format)
	convert a protobuf format enum with a MIME type string.

static viam::component::camera::v1::Format	MIME_string_to_format (const std::string &mime_string)
	convert a MIME type string with a protobuf format enum.

static raw_image	from_proto (const viam::component::camera::v1::GetImageResponse &proto)
	Creates a `raw_image` struct from its proto representation.

static image_collection	from_proto (const viam::component::camera::v1::GetImagesResponse &proto)
	Creates a `image_collection` struct from its proto representation.

static point_cloud	from_proto (const viam::component::camera::v1::GetPointCloudResponse &proto)
	Creates a `point_cloud` struct from its proto representation.

static intrinsic_parameters	from_proto (const viam::component::camera::v1::IntrinsicParameters &proto)
	creates an `intrinsic_parameters` struct from its proto representation.

static distortion_parameters	from_proto (const viam::component::camera::v1::DistortionParameters &proto)
	creats a `distortion_parameters` struct from its proto representation.

static properties	from_proto (const viam::component::camera::v1::GetPropertiesResponse &proto)
	creates a `properties` struct from its proto representation.

static viam::component::camera::v1::DistortionParameters	to_proto (const distortion_parameters &)
	converts a `distortion_parameters` struct to its proto representation.

static viam::component::camera::v1::IntrinsicParameters	to_proto (const intrinsic_parameters &)
	converts an `intrinsic_parameters` struct to its proto representation.

Static Public Attributes
static const std::string	lazy_suffix

Protected Member Functions
	Camera (std::string name)

Protected Member Functions inherited from viam::sdk::Component
	Component (std::string name)

Detailed Description

A Camera represents any physical hardware that can capture frames.

This acts as an abstract base class to be inherited from by any drivers representing specific camera implementations. This class cannot be used on its own.

Member Function Documentation

◆ api()

API viam::sdk::Camera::api ( ) const

overridevirtual

Returns the API associated with a particular resource.

Implements viam::sdk::Resource.

◆ decode_depth_map()

static Camera::depth_map viam::sdk::Camera::decode_depth_map ( const std::vector< unsigned char > & data )

static

Decode image data of custom MIME type FORMAT_RAW_DEPTH into a depth_map structure.

This function processes a binary blob representing a depth map in a specific format and extracts the dimensions and depth values contained within.

Parameters

data	A vector of unsigned chars representing the binary data of the depth map.

Returns: A depth_map (type alias for a 2D xtensor array)

Exceptions

Exception if the data is misformatted e.g. doesn't contain valid depth information, or if the data size does not match the expected size based on the width and height.

◆ do_command()

virtual AttributeMap viam::sdk::Camera::do_command ( const AttributeMap & command )

pure virtual

Send/receive arbitrary commands to the resource.

Parameters

Command the command to execute.

Returns: The result of the executed command.

Implemented in viam::sdk::impl::CameraClient.

◆ encode_depth_map()

static std::vector< unsigned char > viam::sdk::Camera::encode_depth_map ( const Camera::depth_map & m )

static

Encodes the dimensions and depth values of a depth map into a raw binary format (MIME type FORMAT_RAW_DEPTH).

This function takes a depth_map, and encodes this information into a binary blob. The binary format consists of "magic number" header (UTF-8 encoding for 'DEPTHMAP' in big-endian), then the width and height encoded as 64-bit unsigned integers, followed by the depth values encoded as 16-bit unsigned integers (big-endian format). This format is suitable for serialization and transmission of depth map data through gRPC.

Parameters

depth_map A type alias for a 2D xtensor array

Returns: A std::vector<unsigned char> representing the encoded binary data of the depth map. The vector includes 8 bytes for width, 8 bytes for height, followed by 2 bytes per depth value.

Exceptions

Exception if the depth map is not 2D

◆ get_geometries() [1/2]

std::vector< GeometryConfig > viam::sdk::Camera::get_geometries ( )

inline

Returns GeometryConfigs associated with the calling camera.

Returns: The requested GeometryConfigs associated with the component.

◆ get_geometries() [2/2]

virtual std::vector< GeometryConfig > viam::sdk::Camera::get_geometries ( const AttributeMap & extra )

pure virtual

Returns GeometryConfigs associated with the calling camera.

Parameters

extra Any additional arguments to the method.

Returns: The requested GeometryConfigs associated with the component.

Implemented in viam::sdk::impl::CameraClient, and viam::sdk::impl::CameraClient.

◆ get_image() [1/2]

raw_image viam::sdk::Camera::get_image ( std::string mime_type )

inline

Get the next image from the camera as a raw image.

Parameters

mime_type the desired mime_type of the image (does not guarantee output type).

Returns: The frame as a raw_image.

◆ get_image() [2/2]

virtual raw_image viam::sdk::Camera::get_image	(	std::string	mime_type,
		const AttributeMap &	extra )

pure virtual

Get the next image from the camera as a raw image.

Parameters

mime_type	the desired mime_type of the image (does not guarantee output type).
extra	any additional arguments to the method.

Returns: The frame as a raw_image.

Implemented in viam::sdk::impl::CameraClient, and viam::sdk::impl::CameraClient.

◆ get_images()

virtual image_collection viam::sdk::Camera::get_images ( )

pure virtual

Get the next images from the camera as a vector of raw images with names and metadata.

Returns: a vector of raw_images and associated response metadata.

Implemented in viam::sdk::impl::CameraClient.

◆ get_point_cloud() [1/2]

point_cloud viam::sdk::Camera::get_point_cloud ( std::string mime_type )

inline

Get the next point_cloud from the camera.

Parameters

mime_type the desired mime_type of the point_cloud (does not guarantee output type).

Returns: The requested point_cloud.

◆ get_point_cloud() [2/2]

virtual point_cloud viam::sdk::Camera::get_point_cloud	(	std::string	mime_type,
		const AttributeMap &	extra )

pure virtual

Get the next point_cloud from the camera.

Parameters

mime_type	the desired mime_type of the point_cloud (does not guarantee output type).
extra	any additional arguments to the method.

Returns: The requested point_cloud.

Implemented in viam::sdk::impl::CameraClient, and viam::sdk::impl::CameraClient.

◆ get_properties()

virtual properties viam::sdk::Camera::get_properties ( )

pure virtual

Get the camera's properties.

Returns: The camera properties.

Implemented in viam::sdk::impl::CameraClient.

The documentation for this class was generated from the following file:

src/viam/sdk/components/camera.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Detailed Description

Member Function Documentation

◆ api()

◆ decode_depth_map()

◆ do_command()

◆ encode_depth_map()

◆ get_geometries() [1/2]

◆ get_geometries() [2/2]

◆ get_image() [1/2]

◆ get_image() [2/2]

◆ get_images()

◆ get_point_cloud() [1/2]

◆ get_point_cloud() [2/2]

◆ get_properties()