viam.components.camera

Submodules

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

Package Contents

Classes

RawImage	A raw bytes representation 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.

class viam.components.camera.RawImage

Bases: NamedTuple

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.

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.

Return type:

List[List[int]]

class viam.components.camera.DistortionParameters(*, model: str = ..., parameters: collections.abc.Iterable[builtins.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.

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 = ...)

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.

class Properties

Bases: NamedTuple

The camera’s supported features and settings

supports_pcd: bool

Whether the camera has a valid implementation of get_point_cloud

intrinsic_parameters: viam.components.camera.IntrinsicParameters

The properties of the camera

distortion_parameters: viam.components.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.components.camera.RawImage]

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 viam.media.video.RawImage.bytes_to_depth_array() to convert the data to a standard representation.

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

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

Send/Receive arbitrary commands to the Resource

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]

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

Get the ResourceName for this Resource with the given name

Parameters:

name (str) – The name of the Resource

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