intrinsic.solutions.perception.Camera

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Convenience wrapper for Camera.

intrinsic.solutions.perception.Camera(
channel: grpc.Channel,
handle: resource_handle_pb2.ResourceHandle,
resource_registry: resource_registry_client.ResourceRegistryClient,
executive: intrinsic.solutions.execution.Executive,
is_simulated: bool
)

Args
channel	The grpc channel to the respective camera server.
handle	Resource handle for the camera.
resource_registry	Resource registry to fetch camera resources from.
executive	The executive for checking the state.
is_simulated	Whether or not the world is being simulated.

Methods

capture

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capture(
timeout: datetime.timedelta = datetime.timedelta(seconds=_MAX_FRAME_WAIT_TIME_SECONDS),
sensor_ids: Optional[list[int]] = None
) -> data_classes.CaptureResult

Performs grpc request to capture sensor images from the camera.

If the camera handle is no longer valid (eg, if the server returns a NOT_FOUND status), the camera will be reopened (once) on the camera server; if re-opening the camera fails an exception is raised.

Args
timeout	Timeout duration for Capture() service calls.
sensor_ids	List of selected sensor identifiers for Capture() service calls.

Returns
The acquired list of sensor images.

Raises
grpc.RpcError from the camera or resource service.

get_frame

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get_frame(
timeout: datetime.timedelta = datetime.timedelta(seconds=_MAX_FRAME_WAIT_TIME_SECONDS),
skip_undistortion: bool = False,
encoding: Optional[intrinsic.solutions.perception.ImageEncoding] = None
) -> camera_utils.Frame

Performs grpc request to retrieve a frame from the camera.

If the camera handle is no longer valid (eg, if the server returns a NOT_FOUND status), the camera will be reopened (once) on the camera server; if re-opening the camera fails an exception is raised.

Args
timeout	Timeout duration for GetFrame() service calls.
skip_undistortion	If set to true the returned frame will be distorted.
encoding	The encoding of the image (UNSPECIFIED, PNG, JPEG, WEPB). If not set defaults to uncompressed.

Returns
The acquired frame.

Raises
grpc.RpcError from the camera or resource service.

show_capture

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show_capture(
figsize: Tuple[float, float] = (_PLOT_WIDTH_INCHES, _PLOT_HEIGHT_INCHES)
) -> None

Acquires and plots all sensor images from a capture call in a grid plot.

Args
figsize	Size of grid plot. It is defined as a (width, height) tuple with the dimensions in inches.

show_depth_frame

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show_depth_frame() -> None

Acquires and plots depth frame.

show_rgb_frame

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show_rgb_frame() -> None

Acquires and plots frame.