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viamrobotics · May 6, 2024 · 0c0f3ec · 0c0f3ec
1 parent 5dda24a
commit 0c0f3ec
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Showing 3 changed files with 17 additions and 6 deletions.
diff --git a/services/vision/client.go b/services/vision/client.go
@@ -272,7 +272,6 @@ func (c *client) CaptureAllFromCamera(
 	returnObject bool,
 	extra map[string]interface{},
 ) (viscapture.VisCapture, error) {
-	fmt.Println("REACHED CLIENT.GO CAPTUREALL()")
 	ctx, span := trace.StartSpan(ctx, "service::vision::client::ClassificationsFromCamera")
 	defer span.End()
 	ext, err := protoutils.StructToStructPb(extra)

diff --git a/services/vision/server.go b/services/vision/server.go
@@ -10,6 +10,7 @@ import (
 	pb "go.viam.com/api/service/vision/v1"
 	"go.viam.com/rdk/vision/classification"
 	"go.viam.com/rdk/vision/objectdetection"
+	"image"
 
 	"go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/protoutils"
@@ -263,24 +264,37 @@ func (server *serviceServer) CaptureAllFromCamera(ctx context.Context, req *pb.C
 		return nil, err
 	}
 	capt, err := svc.CaptureAllFromCamera(ctx, req.CameraName, req.ReturnImage, req.ReturnDetections, req.ReturnClassifications, req.ReturnObjectPointClouds, req.Extra.AsMap())
+	if err != nil {
+		return nil, err
+	}
 
 	//objectsPCD
 	objProto, err := segmentsToProto(req.CameraName, capt.PointCloudObject())
+	if err != nil {
+		return nil, err
+	}
 
-	img := capt.Image()
-	imgBytes, err := rimage.EncodeImage(ctx, img, utils.MimeTypeJPEG)
+	imgProto, err := imageToProto(ctx, capt.Image(), utils.MimeTypeJPEG)
 	if err != nil {
 		return nil, err
 	}
 
 	return &pb.CaptureAllFromCameraResponse{
-		Image:           &v11.Image{Image: imgBytes},
+		Image:           imgProto,
 		Detections:      detsToProto(capt.Detections()),
 		Classifications: clasToProto(capt.Classifications()),
 		Objects:         objProto,
 	}, nil
 }
 
+func imageToProto(ctx context.Context, img image.Image, mimeType string) (*v11.Image, error) {
+	imgBytes, err := rimage.EncodeImage(ctx, img, mimeType)
+	if err != nil {
+		return nil, err
+	}
+	return &v11.Image{Image: imgBytes}, nil
+}
+
 // DoCommand receives arbitrary commands.
 func (server *serviceServer) DoCommand(ctx context.Context,
 	req *commonpb.DoCommandRequest,

diff --git a/services/vision/vision.go b/services/vision/vision.go
@@ -4,7 +4,6 @@ package vision
 
 import (
 	"context"
-	"fmt"
 	"go.viam.com/rdk/vision/viscapture"
 	"image"
 
@@ -207,7 +206,6 @@ func (vm *vizModel) GetObjectPointClouds(ctx context.Context, cameraName string,
 }
 
 func (vm *vizModel) CaptureAllFromCamera(ctx context.Context, cameraName string, returnImage bool, returnClass bool, returnDet bool, returnObjPCD bool, extra map[string]interface{}) (viscapture.VisCapture, error) {
-	fmt.Println("REACHED VISION.GO CAPTUREALL()")
 	ctx, span := trace.StartSpan(ctx, "service::vision::ClassificationsFromCamera::"+vm.Named.Name().String())
 	defer span.End()
 	cam, err := camera.FromRobot(vm.r, cameraName)