VisionConfig \(Python\)
June 4, 2021 ยท View on GitHub
This page describes the Python VisionConfig API.
RPC reference
This section describes the existing RPCs used in this API.
Service to configure the Vision Module
VisionConfigClient RPCs
| Function name | Return type | Input type | Description |
|---|---|---|---|
| SetSensorSettings | Empty | SensorSettings | Sets sensor settings (resolution, frame rate, etc) |
| GetSensorSettings | SensorSettings | SensorIdentifier | Retrieves sensor settings (resolution, frame rate, etc) |
| GetOptionValue | OptionValue | OptionIdentifier | Retrieves option value from the sensor |
| SetOptionValue | Empty | OptionValue | Writes new value to sensor option |
| GetOptionInformation | OptionInformation | OptionIdentifier | Retrieves option information from the sensor |
| OnNotificationVisionTopic | NotificationHandle | NotificationOptions | Subscribes to Vision configuration notifications |
| DoSensorFocusAction | Empty | SensorFocusAction | Do a focus action |
| GetIntrinsicParameters | IntrinsicParameters | SensorIdentifier | Retrieves sensor intrinsic parameters |
| GetIntrinsicParametersProfile | IntrinsicParameters | IntrinsicProfileIdentifier | Retrieves sensor intrinsic parameters for a specific profile |
| SetIntrinsicParameters | Empty | IntrinsicParameters | Sets sensor intrinsic parameters |
| GetExtrinsicParameters | ExtrinsicParameters | Empty | Retrieves sensor extrinsic parameters |
| SetExtrinsicParameters | Empty | ExtrinsicParameters | Sets sensor extrinsic parameters |
Class reference
This section describes the data classes used in this API.
Messages
| Class | Description |
|---|---|
| DistortionCoefficients | Distortion coefficients for sensor intrinsic parameters |
| ExtrinsicParameters | Sensor extrinsic parameters |
| FocusPoint | Focus point in the X-Y coordinates of the image |
| IntrinsicParameters | Sensor intrinsic parameters |
| IntrinsicProfileIdentifier | Intrisic parameters profile to retrieve |
| ManualFocus | Abstract value that affects the focus distance |
| OptionIdentifier | Sensor and the option to configure |
| OptionInformation | Information about the optional settings for the chosen sensor |
| OptionValue | Value of the particular option for the sensor |
| RotationMatrix | Representation of a 3x3 rotation matrix. To be a valid rotation matrix, the rows must be orthonormal (the rows must each have norm of 1 and the row vectors must be orthogonal to each other). The determinant must also be +1. |
| RotationMatrixRow | Single row of a 3x3 rotation matrix. To be a valid possible row of a rotation matrix, the norm of the row must be 1 (the sum of the squares of the row elements has to equal 1). |
| SensorFocusAction | Focus action to perform for the specified sensor |
| SensorIdentifier | Sensor to configure |
| SensorSettings | Main sensor settings - resolution, frame rate, bit rate - for the chosen sensor (color or depth). |
| TranslationVector | Provides a 3x1 translation vector configuration |
| VisionNotification | Notification about a single vision module event |
Enumerators
| Enumerator | Description |
|---|---|
| BitRate | Maximum encoded bit rate, in Mbps |
| FocusAction | Focus action to perform (start/pause continuous, focus now, disable). Supported only with Color sensor. |
| FrameRate | Sensor frame rate |
| Option | Admissible vision module sensor options. Note that some options are only available for the color sensor and some are only available for the depth sensor. |
| Resolution | Sensor resolution. Note that some settings are only for the color sensor and some are only for the depth sensor. |
| Sensor | Vision module sensor to configure |
| ServiceVersion | Identifies VisionConfig service current version |
| VisionEvent | Admissible Vision module events. |