feat: add vision service #639
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| Original file line number | Diff line number | Diff line change |
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| #include <viam/sdk/common/private/raw_image.hpp> | ||
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| #include <viam/sdk/common/utils.hpp> | ||
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| namespace viam { | ||
| namespace sdk { | ||
| namespace impl { | ||
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| Camera::raw_image from_proto(const ::viam::component::camera::v1::Image& proto) { | ||
| Camera::raw_image raw_image; | ||
| std::string img_string = proto.image(); | ||
| const std::vector<unsigned char> bytes(img_string.begin(), img_string.end()); | ||
| raw_image.bytes = bytes; | ||
| raw_image.mime_type = proto.mime_type(); | ||
| raw_image.source_name = proto.source_name(); | ||
| return raw_image; | ||
| } | ||
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| void to_proto(const Camera::raw_image& image, ::viam::component::camera::v1::Image* out) { | ||
| const std::string img_string = bytes_to_string(image.bytes); | ||
| out->set_source_name(image.source_name); | ||
| out->set_mime_type(image.mime_type); | ||
| out->set_image(img_string); | ||
| } | ||
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| } // namespace impl | ||
| } // namespace sdk | ||
| } // namespace viam |
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| /// @file common/private/raw_image.hpp | ||
| /// | ||
| /// @brief Proto conversion helpers for Camera::raw_image and Image proto. | ||
| #pragma once | ||
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| #include <viam/api/component/camera/v1/camera.pb.h> | ||
| #include <viam/sdk/components/camera.hpp> | ||
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| namespace viam { | ||
| namespace sdk { | ||
| namespace impl { | ||
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| /// @brief Convert a proto Image to Camera::raw_image. | ||
| Camera::raw_image from_proto(const ::viam::component::camera::v1::Image& proto); | ||
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| /// @brief Convert a Camera::raw_image to proto Image. | ||
| void to_proto(const Camera::raw_image& image, ::viam::component::camera::v1::Image* out); | ||
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| } // namespace impl | ||
| } // namespace sdk | ||
| } // namespace viam | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,130 @@ | ||
| // Copyright 2024 Viam Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include <viam/sdk/services/private/vision.hpp> | ||
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| #include <viam/sdk/common/private/repeated_ptr_convert.hpp> | ||
| #include <viam/sdk/common/proto_convert.hpp> | ||
| #include <viam/sdk/spatialmath/geometry.hpp> | ||
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| namespace viam { | ||
| namespace sdk { | ||
| namespace impl { | ||
| namespace vision { | ||
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| namespace vpb = ::viam::service::vision::v1; | ||
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| vpb::Detection to_proto(const Vision::detection& d) { | ||
| vpb::Detection out; | ||
| if (d.x_min) { | ||
| out.set_x_min(*d.x_min); | ||
| } | ||
| if (d.y_min) { | ||
| out.set_y_min(*d.y_min); | ||
| } | ||
| if (d.x_max) { | ||
| out.set_x_max(*d.x_max); | ||
| } | ||
| if (d.y_max) { | ||
| out.set_y_max(*d.y_max); | ||
| } | ||
| if (d.x_min_normalized) { | ||
| out.set_x_min_normalized(*d.x_min_normalized); | ||
| } | ||
| if (d.y_min_normalized) { | ||
| out.set_y_min_normalized(*d.y_min_normalized); | ||
| } | ||
| if (d.x_max_normalized) { | ||
| out.set_x_max_normalized(*d.x_max_normalized); | ||
| } | ||
| if (d.y_max_normalized) { | ||
| out.set_y_max_normalized(*d.y_max_normalized); | ||
| } | ||
| out.set_class_name(d.class_name); | ||
| out.set_confidence(d.confidence); | ||
| return out; | ||
| } | ||
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| Vision::detection from_proto(const vpb::Detection& p) { | ||
| Vision::detection out; | ||
| if (p.has_x_min()) { | ||
| out.x_min = p.x_min(); | ||
| } | ||
| if (p.has_y_min()) { | ||
| out.y_min = p.y_min(); | ||
| } | ||
| if (p.has_x_max()) { | ||
| out.x_max = p.x_max(); | ||
| } | ||
| if (p.has_y_max()) { | ||
| out.y_max = p.y_max(); | ||
| } | ||
| if (p.has_x_min_normalized()) { | ||
| out.x_min_normalized = p.x_min_normalized(); | ||
| } | ||
| if (p.has_y_min_normalized()) { | ||
| out.y_min_normalized = p.y_min_normalized(); | ||
| } | ||
| if (p.has_x_max_normalized()) { | ||
| out.x_max_normalized = p.x_max_normalized(); | ||
| } | ||
| if (p.has_y_max_normalized()) { | ||
| out.y_max_normalized = p.y_max_normalized(); | ||
| } | ||
| out.class_name = p.class_name(); | ||
| out.confidence = p.confidence(); | ||
| return out; | ||
| } | ||
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| vpb::Classification to_proto(const Vision::classification& c) { | ||
| vpb::Classification out; | ||
| out.set_class_name(c.class_name); | ||
| out.set_confidence(c.confidence); | ||
| return out; | ||
| } | ||
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| Vision::classification from_proto(const vpb::Classification& p) { | ||
| return Vision::classification{p.class_name(), p.confidence()}; | ||
| } | ||
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| void to_proto(const Vision::point_cloud_object& o, ::viam::common::v1::PointCloudObject* out) { | ||
| out->set_point_cloud( | ||
| std::string(reinterpret_cast<const char*>(o.cloud.pc.data()), o.cloud.pc.size())); | ||
| *(out->mutable_geometries()->mutable_geometries()) = impl::to_repeated_field(o.geometries); | ||
| } | ||
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| Vision::point_cloud_object from_proto(const ::viam::common::v1::PointCloudObject& p) { | ||
| Vision::point_cloud_object out; | ||
| const auto& bytes = p.point_cloud(); | ||
| out.cloud.pc.assign(reinterpret_cast<const unsigned char*>(bytes.data()), | ||
| reinterpret_cast<const unsigned char*>(bytes.data()) + bytes.size()); | ||
| out.geometries = impl::from_repeated_field(p.geometries().geometries()); | ||
| return out; | ||
| } | ||
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| void to_proto(const Vision::properties& props, vpb::GetPropertiesResponse* out) { | ||
| out->set_classifications_supported(props.classifications_supported); | ||
| out->set_detections_supported(props.detections_supported); | ||
| out->set_object_point_clouds_supported(props.object_point_clouds_supported); | ||
| } | ||
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| Vision::properties from_proto(const vpb::GetPropertiesResponse& p) { | ||
| return Vision::properties{ | ||
| p.classifications_supported(), p.detections_supported(), p.object_point_clouds_supported()}; | ||
| } | ||
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| } // namespace vision | ||
| } // namespace impl | ||
| } // namespace sdk | ||
| } // namespace viam |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| // Copyright 2024 Viam Inc. | ||
|
Member
There was a problem hiding this comment. a separate file for these conversions isn't really in line with other patterns we use in the sdk, but see comments below regarding the actual conversion functions |
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| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #pragma once | ||
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| #include <viam/api/common/v1/common.pb.h> | ||
| #include <viam/api/service/vision/v1/vision.pb.h> | ||
| #include <viam/sdk/services/vision.hpp> | ||
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| namespace viam { | ||
| namespace sdk { | ||
| namespace impl { | ||
| namespace vision { | ||
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| ::viam::service::vision::v1::Detection to_proto(const Vision::detection&); | ||
|
Member
There was a problem hiding this comment. similarly detection, classification, and point_cloud_object should be public i think |
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| Vision::detection from_proto(const ::viam::service::vision::v1::Detection&); | ||
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| ::viam::service::vision::v1::Classification to_proto(const Vision::classification&); | ||
| Vision::classification from_proto(const ::viam::service::vision::v1::Classification&); | ||
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| void to_proto(const Vision::point_cloud_object&, ::viam::common::v1::PointCloudObject* out); | ||
| Vision::point_cloud_object from_proto(const ::viam::common::v1::PointCloudObject&); | ||
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| void to_proto(const Vision::properties&, ::viam::service::vision::v1::GetPropertiesResponse* out); | ||
| Vision::properties from_proto(const ::viam::service::vision::v1::GetPropertiesResponse&); | ||
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| } // namespace vision | ||
| } // namespace impl | ||
| } // namespace sdk | ||
| } // namespace viam | ||
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I think these conversions should probably be public in
camera.hpp, see summary comment