RSDK-4602 - add extra params to camera (#167)

viamrobotics · Jan 12, 2024 · 878449e · 878449e
1 parent be3d245
commit 878449e
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Showing 4 changed files with 34 additions and 10 deletions.
diff --git a/lib/src/components/camera/camera.dart b/lib/src/components/camera/camera.dart
@@ -12,10 +12,10 @@ abstract class Camera extends Resource {
   static const Subtype subtype = Subtype(resourceNamespaceRDK, resourceTypeComponent, 'camera');
 
   /// Get the next image from the camera.
-  Future<ViamImage> image({MimeType? mimeType});
+  Future<ViamImage> image({MimeType? mimeType, Map<String, dynamic>? extra});
 
   /// Get the next point cloud from the camera.
-  Future<ViamImage> pointCloud();
+  Future<ViamImage> pointCloud({Map<String, dynamic>? extra});
 
   /// Get the camera's intrinsic parameters and the camera's distortion parameters.
   Future<CameraProperties> properties();

diff --git a/lib/src/components/camera/client.dart b/lib/src/components/camera/client.dart
@@ -2,6 +2,7 @@ import 'package:grpc/grpc_connection_interface.dart';
 
 import '../../gen/common/v1/common.pb.dart';
 import '../../gen/component/camera/v1/camera.pbgrpc.dart';
+import '../../gen/google/protobuf/struct.pb.dart';
 import '../../media/image.dart';
 import '../../resource/base.dart';
 import '../../utils.dart';
@@ -21,20 +22,22 @@ class CameraClient extends Camera implements ResourceRPCClient {
   CameraClient(this.name, this.channel);
 
   @override
-  Future<ViamImage> image({MimeType? mimeType}) async {
+  Future<ViamImage> image({MimeType? mimeType, Map<String, dynamic>? extra}) async {
     final request = GetImageRequest()
       ..name = name
-      ..mimeType = mimeType?.name ?? '';
+      ..mimeType = mimeType?.name ?? ''
+      ..extra = extra?.toStruct() ?? Struct();
     final response = await client.getImage(request);
     final actualMimeType = MimeType.fromString(response.mimeType);
     return ViamImage(response.image, actualMimeType);
   }
 
   @override
-  Future<ViamImage> pointCloud() async {
+  Future<ViamImage> pointCloud({Map<String, dynamic>? extra}) async {
     final request = GetPointCloudRequest()
       ..name = name
-      ..mimeType = MimeType.pcd.name;
+      ..mimeType = MimeType.pcd.name
+      ..extra = extra?.toStruct() ?? Struct();
     final response = await client.getPointCloud(request);
     final actualMimeType = MimeType.fromString(response.mimeType);
     return ViamImage(response.pointCloud, actualMimeType);

diff --git a/lib/src/components/camera/service.dart b/lib/src/components/camera/service.dart
@@ -32,7 +32,7 @@ class CameraService extends CameraServiceBase {
   @override
   Future<GetImageResponse> getImage(ServiceCall call, GetImageRequest request) async {
     final camera = _fromManager(request.name);
-    final image = await camera.image(mimeType: MimeType.fromString(request.mimeType));
+    final image = await camera.image(mimeType: MimeType.fromString(request.mimeType), extra: request.extra.toMap());
     return GetImageResponse()
       ..mimeType = image.mimeType.name
       ..image = image.raw;
@@ -41,7 +41,7 @@ class CameraService extends CameraServiceBase {
   @override
   Future<GetPointCloudResponse> getPointCloud(ServiceCall call, GetPointCloudRequest request) async {
     final camera = _fromManager(request.name);
-    final image = await camera.pointCloud();
+    final image = await camera.pointCloud(extra: request.extra.toMap());
     return GetPointCloudResponse()
       ..mimeType = image.mimeType.name
       ..pointCloud = image.raw;

diff --git a/test/unit_test/components/camera_test.dart b/test/unit_test/components/camera_test.dart
@@ -22,15 +22,19 @@ class FakeCamera extends Camera {
   }
 
   @override
-  Future<ViamImage> image({MimeType? mimeType}) async {
+  Future<ViamImage> image({MimeType? mimeType, Map<String, dynamic>? extra}) async {
     if (mimeType == null) {
       throw const GrpcError.invalidArgument('invalid mimetype');
     }
+    if (extra != null && extra['forcePng'] == true) {
+      mimeType = MimeType.png;
+    }
+
     return ViamImage([0, 0, 0], mimeType);
   }
 
   @override
-  Future<ViamImage> pointCloud() async {
+  Future<ViamImage> pointCloud({Map<String, dynamic>? extra}) async {
     return ViamImage([0, 0, 0], MimeType.pcd);
   }
 
@@ -60,6 +64,10 @@ void main() {
       final actualPng = await camera.image(mimeType: MimeType.png);
       expect(actualPng.mimeType, MimeType.png);
       expect(actualPng.raw, [0, 0, 0]);
+
+      final actualPngForce = await camera.image(mimeType: MimeType.jpeg, extra: {'forcePng': true});
+      expect(actualPngForce.mimeType, MimeType.png);
+      expect(actualPngForce.raw, [0, 0, 0]);
     });
 
     test('pointCloud', () async {
@@ -122,6 +130,15 @@ void main() {
         final actualPng = await client.getImage(pngRequest);
         expect(actualPng.mimeType, 'png');
         expect(actualPng.image, [0, 0, 0]);
+
+        final forcePngRequest = GetImageRequest()
+          ..name = name
+          ..mimeType = 'jpeg'
+          ..extra = {'forcePng': true}.toStruct();
+
+        final actualPngForce = await client.getImage(forcePngRequest);
+        expect(actualPngForce.mimeType, 'image/png');
+        expect(actualPngForce.image, [0, 0, 0]);
       });
 
       test('pointCloud', () async {
@@ -157,6 +174,10 @@ void main() {
         final actualPng = await client.image(mimeType: MimeType.png);
         expect(actualPng.mimeType, MimeType.png);
         expect(actualPng.raw, [0, 0, 0]);
+
+        final actualPngForce = await client.image(mimeType: MimeType.jpeg, extra: {'forcePng': true});
+        expect(actualPngForce.mimeType, MimeType.png);
+        expect(actualPngForce.raw, [0, 0, 0]);
       });
 
       test('pointCloud', () async {