CameraProjector(camera_provider: CameraProvider) -> None
The camera projector computes a grid of projected image points on the ground plane.
It is mainly used for visualization purposes.
CameraProvider() -> None
A camera provider holds a dictionary of cameras and manages additions and removals.
The camera dictionary should not be modified directly but by using the camera provider's methods. This way respective events are emitted and consistency can be taken care of.
The camera provider also creates an HTTP route to access camera images.
|CAMERA_ADDED||a new camera has been added (argument: camera)|
|CAMERA_REMOVED||a camera has been removed (argument: camera id)|
|NEW_IMAGE||an new image is available (argument: image)|
Detector() -> None
A detector allows detecting objects in images.
It also holds an upload queue for sending images with uncertain results to an active learning infrastructure like the Zauberzeug Learning Loop.
|NEW_DETECTIONS||detection on an image is completed (argument: image)|
DetectorHardware(*, port: int = 8004) -> None
This detector communicates with a YOLO detector via Socket.IO.
It automatically connects and reconnects, submits and receives detections and sends images that should be uploaded to the Zauberzeug Learning Loop.
detect( image: Image, autoupload: Autoupload = Autoupload.FILTERED, tags: list[str] = , ) -> None
Runs detections on the image. Afterwards the
image.detections property is filled.
DetectorSimulation( camera_provider: CameraProvider, *, noise: float = 1.0 ) -> None
This detector simulates object detection.
It requires a camera provider in order to check visibility using the cameras' calibrations.
Individual camera IDs can be added to a set of
blocked_cameras to simulate occlusions during pytests.
A list of
simulated_objects can be filled to define what can be detected.
noise parameter controls the spatial accuracy in pixels.
MultiCameraProvider( *camera_providers: CameraProvider, ) -> None
A multi-camera provider combines multiple camera providers into one.
This is useful if another module requires a single camera provider but the robot has multiple camera sources like USB and WiFi cameras.
UsbCameraProviderHardware() -> None
This module collects and provides real USB cameras.
Camera devices are discovered through video4linux (v4l) and accessed with openCV. Therefore the program v4l2ctl and openCV (including python bindings) must be available.
UsbCameraProviderSimulation() -> None
This module collects and simulates USB cameras and generates synthetic images.
In the current implementation the images only contain the camera ID and the current time.
camera_objects( camera_provider: CameraProvider, camera_projector: CameraProjector, *, px_per_m: float = 10000, debug: bool = False ) -> None
This module provides a UI element for displaying cameras in a 3D scene.
It requires a camera provider as a source of cameras as well as a camera projector to show the current images projected on the ground plane.
px_per_m argument can be used to scale the camera frustums.
debug=True camera IDs are shown (default: