viam.components.camera

Submodules

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

Classes

ViamImage	A native implementation of an image.
DistortionParameters	Abstract base class for protocol messages.
IntrinsicParameters	Abstract base class for protocol messages.
Camera	Camera represents any physical hardware that can capture frames.

Package Contents

class viam.components.camera.ViamImage(data: bytes, mime_type: CameraMimeType)

A native implementation of an image.

Provides the raw data and the mime type.

property data: bytes

The raw bytes of the image

property mime_type: CameraMimeType

The mime type of the image

property width: int | None

The width of the image

property height: int | None

The height of the image

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 the image is not of MIME type image/vnd.viam.dep.

Returns:

The standard representation of the image.

Return type:

List[List[int]]

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

Bases: 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.

model: str

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

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 = ...)

Bases: 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.

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.Camera(name: str)

Bases: 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

For more information, see Camera component.

SUBTYPE: Final

Properties: TypeAlias = GetPropertiesResponse

abstract get_image(mime_type: str = '', *, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) → viam.media.video.ViamImage

Async:

Get the next image from the camera as a ViamImage. Be sure to close the image when finished.

NOTE: If the mime type is image/vnd.viam.dep you can use 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()

Parameters:

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

Returns:

The frame.

Return type:

ViamImage

For more information, see Camera component.

abstract get_images(*, timeout: float | None = None, **kwargs) → Tuple[List[viam.media.video.NamedImage], viam.proto.common.ResponseMetadata]

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.

Return type:

Tuple[List[NamedImage], ResponseMetadata]

For more information, see Camera component.

abstract get_point_cloud(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) → Tuple[bytes, str]

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 (for example, PCD).

Return type:

Tuple[bytes, str]

For more information, see Camera component.

abstract get_properties(*, timeout: float | None = None, **kwargs) → Properties

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.

Return type:

Properties

For more information, see Camera component.

classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) → typing_extensions.Self

Get the component named name from the provided robot.

Parameters:

• robot (RobotClient) – The robot

• name (str) – The name of the component

Returns:

The component, if it exists on the robot

Return type:

Self

abstract do_command(command: Mapping[str, ValueTypes], *, timeout: float | None = None, **kwargs) → Mapping[str, ValueTypes]

Async:

Send/Receive arbitrary commands to the Resource

command = {"cmd": "test", "data1": 500}
result = component.do(command)

Parameters:

command (Mapping[str, ValueTypes]) – The command to execute

Raises:

NotImplementedError – Raised if the Resource does not support arbitrary commands

Returns:

Result of the executed command

Return type:

Mapping[str, ValueTypes]

async get_geometries(*, extra: Dict[str, Any] | None = None, timeout: float | None = None) → List[viam.proto.common.Geometry]

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.

Return type:

List[Geometry]

classmethod get_resource_name(name: str) → viam.proto.common.ResourceName

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")

Parameters:

name (str) – The name of the Resource

Returns:

The ResourceName of this Resource

Return type:

ResourceName

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. ).

Parameters:

kwargs (Mapping[str, Any]) – The kwargs object containing the operation

Returns:

The operation associated with this function

Return type:

viam.operations.Operation

async close()

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()