:py:mod:`viam.components.camera` ================================ .. py:module:: viam.components.camera Submodules ---------- .. toctree:: :titlesonly: :maxdepth: 1 camera/index.rst client/index.rst service/index.rst Package Contents ---------------- Classes ~~~~~~~ .. autoapisummary:: viam.components.camera.RawImage viam.components.camera.ViamImage viam.components.camera.DistortionParameters viam.components.camera.IntrinsicParameters viam.components.camera.Camera .. py:class:: RawImage Bases: :py:obj:`NamedTuple` **DEPRECATED** Use ``ViamImage`` instead A raw bytes representation of an image. A RawImage should be returned instead of a PIL Image instance under one of the following conditions 1) The requested mime type has the LAZY_SUFFIX string appended to it 2) The requested mime type is not supported for decoding/encoding by Viam's Python SDK .. py:attribute:: data :type: bytes The raw data of the image .. py:attribute:: mime_type :type: str The mimetype of the image .. py:method:: close() Close the image and release resources. For RawImage, this is a noop. .. py:method:: bytes_to_depth_array() -> List[List[int]] Decode the data of an image that has the custom depth MIME type ``image/vnd.viam.dep`` into a standard representation. :raises NotSupportedError: Raised if given an image that is not of MIME type `image/vnd.viam.dep`. :returns: The standard representation of the image. :rtype: List[List[int]] .. py:class:: ViamImage(data: bytes, mime_type: CameraMimeType) A native implementation of an image. Provides the raw data and the mime type, as well as lazily loading and caching the PIL.Image representation. .. py:property:: data :type: bytes The raw bytes of the image .. py:property:: mime_type :type: CameraMimeType The mime type of the image .. py:property:: image :type: Optional[PIL.Image.Image] The PIL.Image representation of the image. If the mime type is not supported, this will be None. .. py:method:: close() Close the image and release resources. .. py:method:: bytes_to_depth_array() -> List[List[int]] Decode the data of an image that has the custom depth MIME type ``image/vnd.viam.dep`` into a standard representation. :raises NotSupportedError: Raised if given an image that is not of MIME type `image/vnd.viam.dep`. :returns: The standard representation of the image. :rtype: List[List[int]] .. py:class:: DistortionParameters(*, model: str = ..., parameters: collections.abc.Iterable[float] | None = ...) Bases: :py:obj:`google.protobuf.message.Message` Abstract base class for protocol messages. Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below. .. py:property:: parameters :type: google.protobuf.internal.containers.RepeatedScalarFieldContainer[float] .. py:attribute:: model :type: str .. py:class:: IntrinsicParameters(*, width_px: int = ..., height_px: int = ..., focal_x_px: float = ..., focal_y_px: float = ..., center_x_px: float = ..., center_y_px: float = ...) Bases: :py:obj:`google.protobuf.message.Message` Abstract base class for protocol messages. Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below. .. py:attribute:: width_px :type: int .. py:attribute:: height_px :type: int .. py:attribute:: focal_x_px :type: float .. py:attribute:: focal_y_px :type: float .. py:attribute:: center_x_px :type: float .. py:attribute:: center_y_px :type: float .. py:class:: Camera(name: str) Bases: :py:obj:`viam.components.component_base.ComponentBase` Camera represents any physical hardware that can capture frames. This acts as an abstract base class for any drivers representing specific camera implementations. This cannot be used on its own. If the ``__init__()`` function is overridden, it must call the ``super().__init__()`` function. :: from viam.components.camera import Camera .. py:attribute:: SUBTYPE :type: Final .. py:attribute:: Properties :type: TypeAlias .. py:method:: get_image(mime_type: str = '', *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> Union[PIL.Image.Image, viam.components.camera.RawImage] :abstractmethod: :async: Get the next image from the camera as an Image or RawImage. Be sure to close the image when finished. NOTE: If the mime type is ``image/vnd.viam.dep`` you can use :func:`viam.media.video.ViamImage.bytes_to_depth_array` to convert the data to a standard representation. :: my_camera = Camera.from_robot(robot=robot, name="my_camera") # Assume "frame" has a mime_type of "image/vnd.viam.dep" frame = await my_camera.get_image(mime_type = CameraMimeType.VIAM_RAW_DEPTH) # Convert "frame" to a standard 2D image representation. # Remove the 1st 3x8 bytes and reshape the raw bytes to List[List[Int]]. standard_frame = frame.bytes_to_depth_array() :param mime_type: The desired mime type of the image. This does not guarantee output type :type mime_type: str :returns: The frame :rtype: Image | RawImage .. py:method:: get_images(*, timeout: Optional[float] = None, **kwargs) -> Tuple[List[viam.media.video.NamedImage], viam.proto.common.ResponseMetadata] :abstractmethod: :async: Get simultaneous images from different imagers, along with associated metadata. This should not be used for getting a time series of images from the same imager. :: my_camera = Camera.from_robot(robot=robot, name="my_camera") images, metadata = await my_camera.get_images() img0 = images[0].image timestamp = metadata.captured_at :returns: A tuple containing two values; the first [0] a list of images returned from the camera system, and the second [1] the metadata associated with this response. :rtype: Tuple[List[NamedImage], ResponseMetadata] .. py:method:: get_point_cloud(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> Tuple[bytes, str] :abstractmethod: :async: Get the next point cloud from the camera. This will be returned as bytes with a mimetype describing the structure of the data. The consumer of this call should encode the bytes into the formatted suggested by the mimetype. To deserialize the returned information into a numpy array, use the Open3D library. :: import numpy as np import open3d as o3d data, _ = await camera.get_point_cloud() # write the point cloud into a temporary file with open("/tmp/pointcloud_data.pcd", "wb") as f: f.write(data) pcd = o3d.io.read_point_cloud("/tmp/pointcloud_data.pcd") points = np.asarray(pcd.points) :returns: A tuple containing two values; the first [0] the pointcloud data, and the second [1] the mimetype of the pointcloud (e.g. PCD). :rtype: Tuple[bytes, str] .. py:method:: get_properties(*, timeout: Optional[float] = None, **kwargs) -> Properties :abstractmethod: :async: Get the camera intrinsic parameters and camera distortion parameters :: my_camera = Camera.from_robot(robot=robot, name="my_camera") properties = await my_camera.get_properties() :returns: The properties of the camera :rtype: Properties .. py:method:: from_robot(robot: viam.robot.client.RobotClient, name: str) -> typing_extensions.Self :classmethod: Get the component named ``name`` from the provided robot. :param robot: The robot :type robot: RobotClient :param name: The name of the component :type name: str :returns: The component, if it exists on the robot :rtype: Self .. py:method:: do_command(command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes] :abstractmethod: :async: Send/Receive arbitrary commands to the Resource :: command = {"cmd": "test", "data1": 500} result = component.do(command) :param command: The command to execute :type command: Mapping[str, ValueTypes] :raises NotImplementedError: Raised if the Resource does not support arbitrary commands :returns: Result of the executed command :rtype: Mapping[str, ValueTypes] .. py:method:: get_geometries(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[viam.proto.common.Geometry] :async: Get all geometries associated with the Component, in their current configuration, in the frame of the Component. :: geometries = await component.get_geometries() if geometries: # Get the center of the first geometry print(f"Pose of the first geometry's centerpoint: {geometries[0].center}") :returns: The geometries associated with the Component. :rtype: List[Geometry] .. py:method:: get_resource_name(name: str) -> viam.proto.common.ResourceName :classmethod: Get the ResourceName for this Resource with the given name :: # Can be used with any resource, using an arm as an example my_arm_name = my_arm.get_resource_name("my_arm") :param name: The name of the Resource :type name: str :returns: The ResourceName of this Resource :rtype: ResourceName .. py:method:: get_operation(kwargs: Mapping[str, Any]) -> viam.operations.Operation Get the ``Operation`` associated with the currently running function. When writing custom resources, you should get the ``Operation`` by calling this function and check to see if it's cancelled. If the ``Operation`` is cancelled, then you can perform any necessary (terminating long running tasks, cleaning up connections, etc. ). :param kwargs: The kwargs object containing the operation :type kwargs: Mapping[str, Any] :returns: The operation associated with this function :rtype: viam.operations.Operation .. py:method:: close() :async: Safely shut down the resource and prevent further use. Close must be idempotent. Later configuration may allow a resource to be "open" again. If a resource does not want or need a close function, it is assumed that the resource does not need to return errors when future non-Close methods are called. :: await component.close()