pepper.framework.abstract.camera module¶

class pepper.framework.abstract.camera.AbstractCamera(resolution, rate, callbacks)[source]¶

Bases: object

Abstract Camera

Parameters:	resolution (CameraResolution) – `CameraResolution` rate (int) – Camera Frames per Second callbacks (List[Callable[[AbstractImage], None]]) – Functions to call each time an AbstractImage is captured

callbacks¶

Get/Set on_image() Callbacks

Returns:	callbacks – on_image callbacks
Return type:	list of callable

channels¶

Number of Image (Color) Channels

Returns:	channels – Number of Image (Color) channels
Return type:	int

height¶

Image Height

Returns:	height – Image height
Return type:	int

on_image(image)[source]¶

On Image Event, Called for every Image captured by Camera

Custom Camera Backends should call this function for every frame acquired by the Camera

Parameters:	image (AbstractImage) –

rate¶

Image Rate (Frames per Second)

Returns:	rate – Image rate (Frames per Second)
Return type:	int

resolution¶

Returns CameraResolution

Returns:	resolution
Return type:	CameraResolution

running¶

Returns whether Camera is Running

Returns:	running
Return type:	bool

shape¶

Image Shape (height, width, channels)

Returns:	shape – Image Shape (height, width, channels)
Return type:	np.ndarray

start()[source]¶: Start Streaming Images from Camera

stop()[source]¶: Stop Streaming Images from Camera

true_rate¶

Actual Image Rate (Frames per Second)

Image rate after accounting for latency & performance realities

Returns:	true_rate – Actual Image Rate (Frames per Second)
Return type:	float

width¶

Image Width

Returns:	width – Image width
Return type:	int

class pepper.framework.abstract.camera.AbstractImage(image, bounds, depth=None, image_time=None)[source]¶

Bases: object

Abstract Image Container

Parameters:	image (np.ndarray) – RGB Image (height, width, 3) as Numpy Array bounds (Bounds) – Image Bounds (View Space) in Spherical Coordinates (Phi, Theta) depth (np.ndarray) – Depth Image (height, width) as Numpy Array

bounds¶

Image Bounds (View Space) in Spherical Coordinates (Phi, Theta)

Returns:	bounds – Image Bounds (View Space) in Spherical Coordinates (Phi, Theta)
Return type:	Bounds

depth¶

Depth Image (height, width) as Numpy Array

Returns:	depth – Depth Image (height, width) as Numpy Array
Return type:	np.ndarray

frustum(depth_min, depth_max)[source]¶

Calculate Frustum of the camera at image time (visualisation)

Parameters:	depth_min (float) – Near Viewing Plane depth_max (float) – Far Viewing Place
Returns:	frustum
Return type:	List[float]

get_depth(bounds)[source]¶

Get depth from Image at Bounds in Image Space

Parameters:	bounds (Bounds) – Image Bounds (Image) in Image Space (y, x)
Returns:	depth – Requested depth within Bounds
Return type:	np.ndarray

get_direction(coordinates)[source]¶

Convert 2D Image Coordinates [x, y] to 2D position in Spherical Coordinates [phi, theta]

Parameters:	coordinates (Tuple[float, float]) –
Returns:	direction
Return type:	Tuple[float, float]

get_image(bounds)[source]¶

Get pixels from Image at Bounds in Image Space

Parameters:	bounds (Bounds) – Image Bounds (Image) in Image Space (y, x)
Returns:	pixels – Requested pixels within Bounds
Return type:	np.ndarray

hash¶

image¶

RGB Image (height, width, 3) as Numpy Array

Returns:	image – RGB Image (height, width, 3) as Numpy Array
Return type:	np.ndarray

time¶

Get time image was captured and received by the application.

Returns:	time
Return type:	float

to_file(root)[source]¶