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RSDK-7468: add captureAll method #494

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merged 3 commits into from
May 9, 2024
Merged

RSDK-7468: add captureAll method #494

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cde322e
add captureAll method
Rob1in May 9, 2024
e3bf185
add docstring
Rob1in May 9, 2024
86d4b20
Built new protos from e3bf185
github-actions[bot] May 9, 2024
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32 changes: 32 additions & 0 deletions proto/viam/service/vision/v1/vision.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@ syntax = "proto3";
package viam.service.vision.v1;

import "common/v1/common.proto";
import "component/camera/v1/camera.proto";
import "google/api/annotations.proto";
import "google/protobuf/struct.proto";

Expand Down Expand Up @@ -55,6 +56,12 @@ service VisionService {
};
}

rpc CaptureAllFromCamera(CaptureAllFromCameraRequest) returns (CaptureAllFromCameraResponse) {
option (google.api.http) = {
post: "/viam/api/v1/service/vision/{name}/capture_all"
};
}

// DoCommand sends/receives arbitrary commands
rpc DoCommand(common.v1.DoCommandRequest) returns (common.v1.DoCommandResponse) {
option (google.api.http) = {
Expand Down Expand Up @@ -176,6 +183,31 @@ message GetPropertiesRequest {
google.protobuf.Struct extra = 99;
}

message CaptureAllFromCameraRequest {
// name of the vision service
string name = 1;
// name of camera source to use as input
string camera_name = 2;
// whether or not including the image in the response
bool return_image = 3;
// whether or not including classifications in the response
bool return_classifications = 4;
// whether or not including detections in the response
bool return_detections = 5;
// whether or not including pcd in the response
bool return_object_point_clouds = 6;

google.protobuf.Struct extra = 99;
}

message CaptureAllFromCameraResponse {
component.camera.v1.Image image = 1;
repeated Detection detections = 2;
repeated Classification classifications = 3;
repeated common.v1.PointCloudObject objects = 4;
google.protobuf.Struct extra = 99;
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I don't think extra needs to be included in the response?

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@bhaney bhaney May 9, 2024 •
edited
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It's actually in the scope for the message to also have extra in the response
https://docs.google.com/document/d/119ITK_p0xKyYBTlyksYUEjsHm_lAx3b4c9CaJNtdOnI/edit#heading=h.tcicyojyqi6c

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Ah cool!

}

message GetPropertiesResponse {
// whether or not classifactions are supported by the vision service
bool classifications_supported = 1;
Expand Down
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