modular-filter-examples

README

modular-filter-examples

Examples for creating modular components that filter data capture. This repo contains code for:

• A modular camera that filters camera data capture, in both go (colorfilter directory) and python (pycolorfilter directory). Configuring data capture on this component only keeps the data captured on the underlying camera if the vision service detects a certain color in the captured image.
• A modular sensor that that filters ultrasonic sensor capture, in go (sensorfilter directory). Configuring data capture on this component only keeps data captured on the underlying sensor if there is a significant change in distance readings.

Usage

Build binary

• Navigate to example's module subdirectory (ex. for go color filter, cd colorfilter/module)
• Run go build

Add to robot config

Color filter example:

{
  "modules": [
    {
      "executable_path": <path_to_binary_or_script>,
      "type": "local",
      "name": "colorfilter"
    }
  ],
  "components": [
    {
      "name": "actualcam",
      "type": "camera"
      ...
    },
    {
      "name": "colorfiltercam",
      "type": "camera",
      "model": "example:camera:colorfilter",
      "attributes": {
        "actual_cam": "actualcam",
        "vision_service": "my_color_detector"
      },
      "depends_on": [
        "actualcam",
        "my_color_detector"
      ],
      "service_configs": [
        {
          "type": "data_manager",
          "attributes": {
            "capture_methods": [
              {
                "method": "ReadImage",
                "additional_params": {
                  "mime_type": "image/jpeg"
                },
                "capture_frequency_hz": 1
              }
            ]
          }
        }
      ]
    }
  ],
  "services": [
    {
      "name": "dm",
      "type": "data_manager",
      "attributes": {
        "sync_interval_mins": 0.1,
        "capture_dir": "",
        "tags": [],
        "additional_sync_paths": []
      }
    },
    {
      "type": "vision",
      "attributes": {
        "hue_tolerance_pct": 0.03,
        "segment_size_px": 100,
        "detect_color": "#C6907A"
      },
      "model": "color_detector",
      "name": "my_color_detector"
    }
  ]
}

Sensor filter example:

{
  "modules": [
    {
      "executable_path": <path_to_binary>,
      "type": "local",
      "name": "sensorfilter"
    }
  ]
  "components": [
    {
      "name": "actual_sensor",
      "type": "sensor",
      "model": "ultrasonic",
      "attributes": { ... }
    },
    {
      "name": "filter_sensor",
      "type": "sensor",
      "model": "example:sensor:sensorfilter",
      "service_configs": [
        {
          "type": "data_manager",
          "attributes": {
            "capture_methods": [
              {
                "additional_params": {},
                "capture_frequency_hz": 1,
                "method": "Readings"
              }
            ]
          }
        }
      ],
      "attributes": {
        "actual_sensor": "actual_sensor"
      },
      "depends_on": [
        "actual_sensor"
      ]
    }
  ],
  "services": [
    {
      "type": "data_manager",
      "attributes": {
        "tags": [],
        "additional_sync_paths": [],
        "sync_interval_mins": 0.1,
        "capture_dir": ""
      },
      "name": "dm"
    }
  ]
}