Components

Marker Camera

class j5_zoloto.component.MarkerCamera(identifier, backend)[source]

Camera that can identify fiducial markers.

Additionally, it will do pose estimation, along with some calibration in order to determine the spatial positon and orientation of the markers that it has detected.

__init__(identifier, backend)[source]

capture()[source]

Get the raw image data from the camera.

Return type: ndarray
Returns: Camera pixel data

close()[source]

Close the camera.

The camera will no longer work after this method is called.

Return type: None

property identifier: int

An integer to identify the component on a board.

Return type: int

static interface_class()[source]

Get the interface class that is required to use this component.

Return type: Type[MarkerCameraInterface]

save(path, *, frame=None)[source]

Save an annotated image to a path.

Return type: None

see(*, eager=True, frame=None)[source]

Capture an image and identify fiducial markers.

Parameters: eager (bool) – Process the pose estimations of markers immediately.
Return type: List[BaseMarker]
Returns: list of markers that the camera could see.

see_ids(*, frame=None)[source]

Capture an image and identify fiducial markers.

This method does not perform pose estimation, so is faster than see.

Return type: List[int]
Returns: A list of IDs for the markers that were visible.

Marker Camera Interface

class j5_zoloto.component.MarkerCameraInterface[source]

An interface containing the methods required for a marker camera.

abstract capture_frame()[source]

Get the raw image data from the camera.

Return type: ndarray
Returns: Camera pixel data

abstract close_camera(identifier)[source]

Close the camera object.

Return type: None

abstract get_visible_markers(identifier, *, frame=None)[source]

Get a list of visible marker IDs.

Parameters: identifier (int) – Camera identifier, ignored.
Return type: List[int]
Returns: List of marker IDs that were visible.

abstract process_frame(identifier, *, frame=None)[source]

Get markers that the camera can see.

Parameters: identifier (int) – Camera identifier, ignored.
Return type: Generator[Union[UncalibratedMarker, Marker], None, None]

abstract process_frame_eager(identifier, *, frame=None)[source]

Get markers that the camera can see.

Parameters: identifier (int) – Camera identifier, ignored.
Return type: Generator[EagerMarker, None, None]

abstract save_annotated_image(identifier, file, *, frame=None)[source]

Save an annotated image to a file.

Return type: None