Camera Component

from viam.components.camera import Camera

Parameters:

• mime_type (str) (required): The desired mime type of the image. This does not guarantee output type.
• extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
• timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• (viam.media.video.ViamImage): The frame.

Example:

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()

If the mime_type of your image is image/vnd.viam.dep, pass the returned image data to the Viam Python SDK’s ViamImage.bytes_to_depth_array() method to decode the raw image data to a standard 2D image representation.

In addition, the Python SDK provides the helper functions viam_to_pil_image and pil_to_viam_image to decode the ViamImage into a PIL Image and vice versa.

For example:

# from viam.media.utils.pil import pil_to_viam_image, viam_to_pil_image
# < ADD ABOVE IMPORT TO BEGINNING OF PROGRAM >

# Get the ViamImage from your camera.
frame = await my_camera.get_image()

# Convert "frame" to a PIL Image representation.
pil_frame = viam_to_pil_image(frame)

# Use methods from the PIL Image class to get size.
x, y = pil_frame.size[0], pil_frame.size[1]
# Crop image to get only the left two fifths of the original image.
cropped_pil_frame = pil_frame.crop((0, 0, x / 2.5, y))

# Convert back to ViamImage.
cropped_frame = pil_to_viam_image(cropped_pil_frame)

For more information, see the Python SDK Docs.

Parameters:

• timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• (Tuple[List[video.NamedImage], common.ResponseMetadata]): 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.

Example:

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

For more information, see the Python SDK Docs.

Parameters:

• extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
• timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• (Tuple[bytes, str]): A tuple containing two values; the first [0] the pointcloud data, and the second [1] the mimetype of the pointcloud (for example, PCD).

Example:

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)

For more information, see the Python SDK Docs.

Parameters:

• timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• (viam.components.camera.Camera.Properties): The properties of the camera.

Example:

my_camera = Camera.from_robot(robot=robot, name="my_camera")

properties = await my_camera.get_properties()

For more information, see the Python SDK Docs.

Parameters:

• command (Mapping[str, ValueTypes]) (required): The command to execute.
• timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• (Mapping[str, viam.utils.ValueTypes]): Result of the executed command.

Raises:

• (NotImplementedError): Raised if the Resource does not support arbitrary commands.

Example:

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

For more information, see the Python SDK Docs.

Parameters:

• extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
• timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• (List[viam.proto.common.Geometry]): The geometries associated with the Component.

Example:

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}")

For more information, see the Python SDK Docs.

Parameters:

• robot RobotClient (required)
• name String (required)

Returns:

• Camera

For more information, see the Flutter SDK Docs.

Parameters:

• name (str) (required): The name of the Resource.

Returns:

• (viam.proto.common.ResourceName): The ResourceName of this Resource.

Example:

# Can be used with any resource, using an arm as an example
my_arm_name = my_arm.get_resource_name("my_arm")

For more information, see the Python SDK Docs.

Parameters:

• None.

Returns:

• None.

Example:

await component.close()

For more information, see the Python SDK Docs.