gRPC client implementation of a Camera component. More...

#include <camera_client.hpp>

Inheritance diagram for viam::sdk::impl::CameraClient:

Public Types
using	interface_type = Camera

Public Types inherited from viam::sdk::Camera
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
	CameraClient (std::string name, std::shared_ptr< grpc::Channel > channel)

AttributeMap	do_command (const AttributeMap &command) override
	Send/receive arbitrary commands to the resource.

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

image_collection	get_images () override
	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, const AttributeMap &extra) override
	Get the next `point_cloud` from the camera.

properties	get_properties () override
	Get the camera's properties.

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

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.

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.

Public Member Functions inherited from viam::sdk::Camera
raw_image	get_image (std::string mime_type)
	Get the next image from the camera as a raw image.

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

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

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.

Protected Member Functions
	CameraClient (std::string name, std::unique_ptr< viam::component::camera::v1::CameraService::StubInterface > stub)

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

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

Additional Inherited Members
Static Public Member Functions inherited from viam::sdk::Camera
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 inherited from viam::sdk::Camera
static const std::string	lazy_suffix

Detailed Description

gRPC client implementation of a Camera component.

Member Function Documentation

◆ do_command()

AttributeMap viam::sdk::impl::CameraClient::do_command ( const AttributeMap & command )

overridevirtual

Send/receive arbitrary commands to the resource.

Parameters

Command the command to execute.

Returns: The result of the executed command.

Implements viam::sdk::Camera.

◆ get_geometries() [1/3]

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() [2/3]

std::vector< GeometryConfig > viam::sdk::impl::CameraClient::get_geometries ( const AttributeMap & extra )

overridevirtual

Returns GeometryConfigs associated with the calling camera.

Parameters

extra Any additional arguments to the method.

Returns: The requested GeometryConfigs associated with the component.

Implements viam::sdk::Camera.

◆ get_geometries() [3/3]

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

virtual

Returns GeometryConfigs associated with the calling camera.

Parameters

extra Any additional arguments to the method.

Returns: The requested GeometryConfigs associated with the component.

Implements viam::sdk::Camera.

◆ get_image() [1/3]

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() [2/3]

raw_image viam::sdk::impl::CameraClient::get_image	(	std::string	mime_type,
		const AttributeMap &	extra )

overridevirtual

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.

Implements viam::sdk::Camera.

◆ get_image() [3/3]

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

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.

Implements viam::sdk::Camera.

◆ get_images()

image_collection viam::sdk::impl::CameraClient::get_images ( )

overridevirtual

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.

Implements viam::sdk::Camera.

◆ get_point_cloud() [1/3]

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() [2/3]

point_cloud viam::sdk::impl::CameraClient::get_point_cloud	(	std::string	mime_type,
		const AttributeMap &	extra )

overridevirtual

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.

Implements viam::sdk::Camera.

◆ get_point_cloud() [3/3]

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

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.

Implements viam::sdk::Camera.

◆ get_properties()

properties viam::sdk::impl::CameraClient::get_properties ( )

overridevirtual

Get the camera's properties.

Returns: The camera properties.

Implements viam::sdk::Camera.

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

src/viam/sdk/components/private/camera_client.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ do_command()

◆ get_geometries() [1/3]

◆ get_geometries() [2/3]

◆ get_geometries() [3/3]

◆ get_image() [1/3]

◆ get_image() [2/3]

◆ get_image() [3/3]

◆ get_images()

◆ get_point_cloud() [1/3]

◆ get_point_cloud() [2/3]

◆ get_point_cloud() [3/3]

◆ get_properties()