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server.go
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server.go
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package vision
import (
"bytes"
"context"
"github.com/pkg/errors"
"go.opencensus.io/trace"
commonpb "go.viam.com/api/common/v1"
pb "go.viam.com/api/service/vision/v1"
"go.viam.com/rdk/pointcloud"
"go.viam.com/rdk/protoutils"
"go.viam.com/rdk/resource"
"go.viam.com/rdk/rimage"
"go.viam.com/rdk/utils"
"go.viam.com/rdk/vision"
)
// serviceServer implements the Vision Service.
type serviceServer struct {
pb.UnimplementedVisionServiceServer
coll resource.APIResourceCollection[Service]
}
// NewRPCServiceServer constructs a vision gRPC service server.
// It is intentionally untyped to prevent use outside of tests.
func NewRPCServiceServer(coll resource.APIResourceCollection[Service]) interface{} {
return &serviceServer{coll: coll}
}
func (server *serviceServer) GetDetections(
ctx context.Context,
req *pb.GetDetectionsRequest,
) (*pb.GetDetectionsResponse, error) {
ctx, span := trace.StartSpan(ctx, "service::vision::server::GetDetections")
defer span.End()
svc, err := server.coll.Resource(req.Name)
if err != nil {
return nil, err
}
img, err := rimage.DecodeImage(ctx, req.Image, req.MimeType)
if err != nil {
return nil, err
}
detections, err := svc.Detections(ctx, img, req.Extra.AsMap())
if err != nil {
return nil, err
}
protoDets := make([]*pb.Detection, 0, len(detections))
for _, det := range detections {
box := det.BoundingBox()
if box == nil {
return nil, errors.New("detection has no bounding box, must return a bounding box")
}
xMin := int64(box.Min.X)
yMin := int64(box.Min.Y)
xMax := int64(box.Max.X)
yMax := int64(box.Max.Y)
d := &pb.Detection{
XMin: &xMin,
YMin: &yMin,
XMax: &xMax,
YMax: &yMax,
Confidence: det.Score(),
ClassName: det.Label(),
}
protoDets = append(protoDets, d)
}
return &pb.GetDetectionsResponse{
Detections: protoDets,
}, nil
}
func (server *serviceServer) GetDetectionsFromCamera(
ctx context.Context,
req *pb.GetDetectionsFromCameraRequest,
) (*pb.GetDetectionsFromCameraResponse, error) {
ctx, span := trace.StartSpan(ctx, "service::vision::server::GetDetectionsFromCamera")
defer span.End()
svc, err := server.coll.Resource(req.Name)
if err != nil {
return nil, err
}
detections, err := svc.DetectionsFromCamera(ctx, req.CameraName, req.Extra.AsMap())
if err != nil {
return nil, err
}
protoDets := make([]*pb.Detection, 0, len(detections))
for _, det := range detections {
box := det.BoundingBox()
if box == nil {
return nil, errors.New("detection has no bounding box, must return a bounding box")
}
xMin := int64(box.Min.X)
yMin := int64(box.Min.Y)
xMax := int64(box.Max.X)
yMax := int64(box.Max.Y)
d := &pb.Detection{
XMin: &xMin,
YMin: &yMin,
XMax: &xMax,
YMax: &yMax,
Confidence: det.Score(),
ClassName: det.Label(),
}
protoDets = append(protoDets, d)
}
return &pb.GetDetectionsFromCameraResponse{
Detections: protoDets,
}, nil
}
func (server *serviceServer) GetClassifications(
ctx context.Context,
req *pb.GetClassificationsRequest,
) (*pb.GetClassificationsResponse, error) {
ctx, span := trace.StartSpan(ctx, "service::vision::server::GetClassifications")
defer span.End()
svc, err := server.coll.Resource(req.Name)
if err != nil {
return nil, err
}
img, err := rimage.DecodeImage(ctx, req.Image, req.MimeType)
if err != nil {
return nil, err
}
classifications, err := svc.Classifications(ctx, img, int(req.N), req.Extra.AsMap())
if err != nil {
return nil, err
}
protoCs := make([]*pb.Classification, 0, len(classifications))
for _, c := range classifications {
cc := &pb.Classification{
ClassName: c.Label(),
Confidence: c.Score(),
}
protoCs = append(protoCs, cc)
}
return &pb.GetClassificationsResponse{
Classifications: protoCs,
}, nil
}
func (server *serviceServer) GetClassificationsFromCamera(
ctx context.Context,
req *pb.GetClassificationsFromCameraRequest,
) (*pb.GetClassificationsFromCameraResponse, error) {
ctx, span := trace.StartSpan(ctx, "service::vision::server::GetClassificationsFromCamera")
defer span.End()
svc, err := server.coll.Resource(req.Name)
if err != nil {
return nil, err
}
classifications, err := svc.ClassificationsFromCamera(ctx, req.CameraName, int(req.N), req.Extra.AsMap())
if err != nil {
return nil, err
}
protoCs := make([]*pb.Classification, 0, len(classifications))
for _, c := range classifications {
cc := &pb.Classification{
ClassName: c.Label(),
Confidence: c.Score(),
}
protoCs = append(protoCs, cc)
}
return &pb.GetClassificationsFromCameraResponse{
Classifications: protoCs,
}, nil
}
// GetObjectPointClouds returns an array of objects from the frame from a camera of the underlying robot. A specific MIME type
// can be requested but may not necessarily be the same one returned. Also returns a Vector3 array of the center points of each object.
func (server *serviceServer) GetObjectPointClouds(
ctx context.Context,
req *pb.GetObjectPointCloudsRequest,
) (*pb.GetObjectPointCloudsResponse, error) {
svc, err := server.coll.Resource(req.Name)
if err != nil {
return nil, err
}
objects, err := svc.GetObjectPointClouds(ctx, req.CameraName, req.Extra.AsMap())
if err != nil {
return nil, err
}
protoSegments, err := segmentsToProto(req.CameraName, objects)
if err != nil {
return nil, err
}
return &pb.GetObjectPointCloudsResponse{
MimeType: utils.MimeTypePCD,
Objects: protoSegments,
}, nil
}
func segmentsToProto(frame string, segs []*vision.Object) ([]*commonpb.PointCloudObject, error) {
protoSegs := make([]*commonpb.PointCloudObject, 0, len(segs))
for _, seg := range segs {
var buf bytes.Buffer
if seg.PointCloud == nil {
seg.PointCloud = pointcloud.New()
}
err := pointcloud.ToPCD(seg, &buf, pointcloud.PCDBinary)
if err != nil {
return nil, err
}
ps := &commonpb.PointCloudObject{
PointCloud: buf.Bytes(),
Geometries: &commonpb.GeometriesInFrame{
Geometries: []*commonpb.Geometry{seg.Geometry.ToProtobuf()},
ReferenceFrame: frame,
},
}
protoSegs = append(protoSegs, ps)
}
return protoSegs, nil
}
// DoCommand receives arbitrary commands.
func (server *serviceServer) DoCommand(ctx context.Context,
req *commonpb.DoCommandRequest,
) (*commonpb.DoCommandResponse, error) {
ctx, span := trace.StartSpan(ctx, "service::vision::server::DoCommand")
defer span.End()
svc, err := server.coll.Resource(req.Name)
if err != nil {
return nil, err
}
return protoutils.DoFromResourceServer(ctx, svc, req)
}