viam.components.camera

Submodules

• viam.components.camera.camera
• viam.components.camera.client
• viam.components.camera.service

Package Contents

Classes

Camera	Camera represents any physical hardware that can capture frames.
DistortionParameters	Abstract base class for protocol messages.
IntrinsicParameters	Abstract base class for protocol messages.
RawImage	A raw bytes representation of an image.

class viam.components.camera.Camera(name: str)

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.

class Properties

The camera’s supported features and settings

supports_pcd :bool

Whether the camera has a valid implementation of get_point_cloud

intrinsic_parameters :viam.proto.component.camera.IntrinsicParameters

The properties of the camera

distortion_parameters :viam.proto.component.camera.DistortionParameters

The distortion parameters of the camera

SUBTYPE :Final

abstract async get_image(mime_type: str = '', *, timeout: Optional[float] = None, **kwargs) → Union[PIL.Image.Image, viam.media.video.RawImage]

Get the next image from the camera as an Image or RawImage. Be sure to close the image when finished.

Parameters

mime_type (str) – The desired mime type of the image. This does not guarantee output type

Returns

The frame

Return type

Image | RawImage

abstract async get_point_cloud(*, timeout: Optional[float] = None, **kwargs) → Tuple[bytes, str]

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

The pointcloud data. str: The mimetype of the pointcloud (e.g. PCD).

Return type

bytes

abstract async get_properties(*, timeout: Optional[float] = None, **kwargs) → Properties

Get the camera intrinsic parameters and camera distortion parameters

Returns

The properties of the camera

Return type

Properties

class viam.components.camera.DistortionParameters(*, model: str = ..., parameters: collections.abc.Iterable[builtins.float] | None = ...)

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.

property parameters: google.protobuf.internal.containers.RepeatedScalarFieldContainer[float]

model :str

class viam.components.camera.IntrinsicParameters(*, width_px: int = ..., height_px: int = ..., focal_x_px: float = ..., focal_y_px: float = ..., center_x_px: float = ..., center_y_px: float = ...)

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.

width_px :int

height_px :int

focal_x_px :float

focal_y_px :float

center_x_px :float

center_y_px :float

class viam.components.camera.RawImage

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

data :bytes

The raw data of the image

mime_type :str

The mimetype of the image

close()

Close the image and release resources. For RawImage, this is a noop.