From c2f57ffb568a73e9b503ed723e55f166264c429d Mon Sep 17 00:00:00 2001 From: Bijan Haney Date: Fri, 31 May 2024 15:39:33 -0400 Subject: [PATCH] adds new properties to the module --- go.mod | 33 +++++----- go.sum | 109 ++++++++++++++++++------------- oceanprefilter/oceanprefilter.go | 48 +++++++++++++- 3 files changed, 126 insertions(+), 64 deletions(-) diff --git a/go.mod b/go.mod index 6c48ed8..0bf5989 100644 --- a/go.mod +++ b/go.mod @@ -4,8 +4,8 @@ go 1.21.7 require ( github.com/pkg/errors v0.9.1 - go.viam.com/rdk v0.25.0 - go.viam.com/utils v0.1.72 + go.viam.com/rdk v0.28.0 + go.viam.com/utils v0.1.79 gocv.io/x/gocv v0.36.1 ) @@ -21,9 +21,10 @@ require ( github.com/aybabtme/uniplot v0.0.0-20151203143629-039c559e5e7e // indirect github.com/benbjohnson/clock v1.3.3 // indirect github.com/bep/debounce v1.2.1 // indirect - github.com/blackjack/webcam v0.5.0 // indirect + github.com/blackjack/webcam v0.6.1 // indirect github.com/bluenviron/gortsplib/v4 v4.8.0 // indirect github.com/bufbuild/protocompile v0.5.1 // indirect + github.com/bytedance/sonic v1.11.8 // indirect github.com/campoy/embedmd v1.0.0 // indirect github.com/cenkalti/backoff v2.2.1+incompatible // indirect github.com/cenkalti/backoff/v4 v4.2.1 // indirect @@ -68,12 +69,12 @@ require ( github.com/klauspost/compress v1.16.5 // indirect github.com/kylelemons/go-gypsy v1.0.0 // indirect github.com/lestrrat-go/backoff/v2 v2.0.8 // indirect - github.com/lestrrat-go/blackmagic v1.0.1 // indirect + github.com/lestrrat-go/blackmagic v1.0.2 // indirect github.com/lestrrat-go/httpcc v1.0.1 // indirect github.com/lestrrat-go/iter v1.0.2 // indirect - github.com/lestrrat-go/jwx v1.2.25 // indirect + github.com/lestrrat-go/jwx v1.2.29 // indirect github.com/lestrrat-go/option v1.0.1 // indirect - github.com/lib/pq v1.10.7 // indirect + github.com/lib/pq v1.10.9 // indirect github.com/lmittmann/ppm v1.0.2 // indirect github.com/lucasb-eyer/go-colorful v1.2.0 // indirect github.com/mattn/go-runewidth v0.0.14 // indirect @@ -90,7 +91,7 @@ require ( github.com/pion/interceptor v0.1.25 // indirect github.com/pion/logging v0.2.2 // indirect github.com/pion/mdns v0.0.12 // indirect - github.com/pion/mediadevices v0.6.2 // indirect + github.com/pion/mediadevices v0.6.4 // indirect github.com/pion/randutil v0.1.0 // indirect github.com/pion/rtcp v1.2.14 // indirect github.com/pion/rtp v1.8.5 // indirect @@ -123,18 +124,18 @@ require ( go.uber.org/goleak v1.2.1 // indirect go.uber.org/multierr v1.11.0 // indirect go.uber.org/zap v1.24.0 // indirect - go.viam.com/api v0.1.281 // indirect + go.viam.com/api v0.1.302 // indirect go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 // indirect - golang.org/x/crypto v0.21.0 // indirect + golang.org/x/crypto v0.23.0 // indirect golang.org/x/exp v0.0.0-20230725012225-302865e7556b // indirect golang.org/x/image v0.15.0 // indirect - golang.org/x/mod v0.11.0 // indirect - golang.org/x/net v0.22.0 // indirect + golang.org/x/mod v0.14.0 // indirect + golang.org/x/net v0.25.0 // indirect golang.org/x/oauth2 v0.10.0 // indirect - golang.org/x/sync v0.3.0 // indirect - golang.org/x/sys v0.18.0 // indirect - golang.org/x/text v0.14.0 // indirect - golang.org/x/tools v0.10.0 // indirect + golang.org/x/sync v0.6.0 // indirect + golang.org/x/sys v0.20.0 // indirect + golang.org/x/text v0.15.0 // indirect + golang.org/x/tools v0.17.0 // indirect golang.org/x/xerrors v0.0.0-20220907171357-04be3eba64a2 // indirect gonum.org/v1/gonum v0.12.0 // indirect gonum.org/v1/plot v0.12.0 // indirect @@ -144,7 +145,7 @@ require ( google.golang.org/genproto/googleapis/api v0.0.0-20230711160842-782d3b101e98 // indirect google.golang.org/genproto/googleapis/rpc v0.0.0-20230711160842-782d3b101e98 // indirect google.golang.org/grpc v1.58.3 // indirect - google.golang.org/protobuf v1.31.0 // indirect + google.golang.org/protobuf v1.34.1 // indirect gopkg.in/square/go-jose.v2 v2.6.0 // indirect gopkg.in/yaml.v3 v3.0.1 // indirect nhooyr.io/websocket v1.8.7 // indirect diff --git a/go.sum b/go.sum index b41489a..c8c9a41 100644 --- a/go.sum +++ b/go.sum @@ -124,15 +124,21 @@ github.com/bep/debounce v1.2.1/go.mod h1:H8yggRPQKLUhUoqrJC1bO2xNya7vanpDl7xR3IS github.com/bgentry/speakeasy v0.1.0/go.mod h1:+zsyZBPWlz7T6j88CTgSN5bM796AkVf0kBD4zp0CCIs= github.com/bketelsen/crypt v0.0.3-0.20200106085610-5cbc8cc4026c/go.mod h1:MKsuJmJgSg28kpZDP6UIiPt0e0Oz0kqKNGyRaWEPv84= github.com/bkielbasa/cyclop v1.2.0/go.mod h1:qOI0yy6A7dYC4Zgsa72Ppm9kONl0RoIlPbzot9mhmeI= -github.com/blackjack/webcam v0.5.0 h1:NImYpsAbWxglejopcQGQ3FClxhJZaBBgr5fV7nsGdvk= -github.com/blackjack/webcam v0.5.0/go.mod h1:zs+RkUZzqpFPHPiwBZ6U5B34ZXXe9i+SiHLKnnukJuI= +github.com/blackjack/webcam v0.6.1 h1:K0T6Q0zto23U99gNAa5q/hFoye6uGcKr2aE6hFoxVoE= +github.com/blackjack/webcam v0.6.1/go.mod h1:zs+RkUZzqpFPHPiwBZ6U5B34ZXXe9i+SiHLKnnukJuI= github.com/bluenviron/gortsplib/v4 v4.8.0 h1:nvFp6rHALcSep3G9uBFI0uogS9stVZLNq/92TzGZdQg= github.com/bluenviron/gortsplib/v4 v4.8.0/go.mod h1:+d+veuyvhvikUNp0GRQkk6fEbd/DtcXNidMRm7FQRaA= +github.com/bluenviron/mediacommon v1.9.2 h1:EHcvoC5YMXRcFE010bTNf07ZiSlB/e/AdZyG7GsEYN0= +github.com/bluenviron/mediacommon v1.9.2/go.mod h1:lt8V+wMyPw8C69HAqDWV5tsAwzN9u2Z+ca8B6C//+n0= github.com/bombsimon/wsl/v3 v3.2.0/go.mod h1:st10JtZYLE4D5sC7b8xV4zTKZwAQjCH/Hy2Pm1FNZIc= github.com/boombuler/barcode v1.0.0/go.mod h1:paBWMcWSl3LHKBqUq+rly7CNSldXjb2rDl3JlRe0mD8= github.com/boombuler/barcode v1.0.1/go.mod h1:paBWMcWSl3LHKBqUq+rly7CNSldXjb2rDl3JlRe0mD8= github.com/bufbuild/protocompile v0.5.1 h1:mixz5lJX4Hiz4FpqFREJHIXLfaLBntfaJv1h+/jS+Qg= github.com/bufbuild/protocompile v0.5.1/go.mod h1:G5iLmavmF4NsYtpZFvE3B/zFch2GIY8+wjsYLR/lc40= +github.com/bytedance/sonic v1.11.8 h1:Zw/j1KfiS+OYTi9lyB3bb0CFxPJVkM17k1wyDG32LRA= +github.com/bytedance/sonic v1.11.8/go.mod h1:LysEHSvpvDySVdC2f87zGWf6CIKJcAvqab1ZaiQtds4= +github.com/bytedance/sonic/loader v0.1.1 h1:c+e5Pt1k/cy5wMveRDyk2X4B9hF4g7an8N3zCYjJFNM= +github.com/bytedance/sonic/loader v0.1.1/go.mod h1:ncP89zfokxS5LZrJxl5z0UJcsk4M4yY2JpfqGeCtNLU= github.com/campoy/embedmd v1.0.0 h1:V4kI2qTJJLf4J29RzI/MAt2c3Bl4dQSYPuflzwFH2hY= github.com/campoy/embedmd v1.0.0/go.mod h1:oxyr9RCiSXg0M3VJ3ks0UGfp98BpSSGr0kpiX3MzVl8= github.com/casbin/casbin/v2 v2.1.2/go.mod h1:YcPU1XXisHhLzuxH9coDNf2FbKpjGlbCg3n9yuLkIJQ= @@ -154,6 +160,10 @@ github.com/chzyer/readline v0.0.0-20180603132655-2972be24d48e/go.mod h1:nSuG5e5P github.com/chzyer/test v0.0.0-20180213035817-a1ea475d72b1/go.mod h1:Q3SI9o4m/ZMnBNeIyt5eFwwo7qiLfzFZmjNmxjkiQlU= github.com/clbanning/x2j v0.0.0-20191024224557-825249438eec/go.mod h1:jMjuTZXRI4dUb/I5gc9Hdhagfvm9+RyrPryS/auMzxE= github.com/client9/misspell v0.3.4/go.mod h1:qj6jICC3Q7zFZvVWo7KLAzC3yx5G7kyvSDkc90ppPyw= +github.com/cloudwego/base64x v0.1.4 h1:jwCgWpFanWmN8xoIUHa2rtzmkd5J2plF/dnLS6Xd/0Y= +github.com/cloudwego/base64x v0.1.4/go.mod h1:0zlkT4Wn5C6NdauXdJRhSKRlJvmclQ1hhJgA0rcu/8w= +github.com/cloudwego/iasm v0.2.0 h1:1KNIy1I1H9hNNFEEH3DVnI4UujN+1zjpuk6gwHLTssg= +github.com/cloudwego/iasm v0.2.0/go.mod h1:8rXZaNYT2n95jn+zTI1sDr+IgcD2GVs0nlbbQPiEFhY= github.com/cncf/udpa/go v0.0.0-20191209042840-269d4d468f6f/go.mod h1:M8M6+tZqaGXZJjfX53e64911xZQV5JYwmTeXPW+k8Sc= github.com/cncf/udpa/go v0.0.0-20201120205902-5459f2c99403/go.mod h1:WmhPx2Nbnhtbo57+VJT5O0JRkEi1Wbu0z5j0R8u5Hbk= github.com/cncf/udpa/go v0.0.0-20210930031921-04548b0d99d4/go.mod h1:6pvJx4me5XPnfI9Z40ddWsdw2W/uZgQLFXToKeRcDiI= @@ -191,8 +201,7 @@ github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38= github.com/de-bkg/gognss v0.0.0-20220601150219-24ccfdcdbb5d h1:AHDio/bKqSNW6c8d9vP0KsVsBBOdvuN5FyDHpnGY7t0= github.com/de-bkg/gognss v0.0.0-20220601150219-24ccfdcdbb5d/go.mod h1:9ExAdt7E0RgTFoLc2GFji9LmfnMA11NVRz3eJ6yogvE= -github.com/decred/dcrd/crypto/blake256 v1.0.0/go.mod h1:sQl2p6Y26YV+ZOcSTP6thNdn47hh8kt6rqSlvmrXFAc= -github.com/decred/dcrd/dcrec/secp256k1/v4 v4.0.0-20210816181553-5444fa50b93d/go.mod h1:tmAIfUFEirG/Y8jhZ9M+h36obRZAk/1fcSpXwAVlfqE= +github.com/decred/dcrd/crypto/blake256 v1.0.1/go.mod h1:2OfgNZ5wDpcsFmHmCK5gZTPcCXqlm2ArzUIkw9czNJo= github.com/decred/dcrd/dcrec/secp256k1/v4 v4.2.0 h1:8UrgZ3GkP4i/CLijOJx79Yu+etlyjdBU4sfcs2WYQMs= github.com/decred/dcrd/dcrec/secp256k1/v4 v4.2.0/go.mod h1:v57UDF4pDQJcEfFUCRop3lJL149eHGSe9Jvczhzjo/0= github.com/denis-tingajkin/go-header v0.4.2/go.mod h1:eLRHAVXzE5atsKAnNRDB90WHCFFnBUn4RN0nRcs1LJA= @@ -254,8 +263,8 @@ github.com/ghodss/yaml v1.0.0/go.mod h1:4dBDuWmgqj2HViK6kFavaiC9ZROes6MMH2rRYeME github.com/gin-contrib/sse v0.1.0 h1:Y/yl/+YNO8GZSjAhjMsSuLt29uWRFHdHYUb5lYOV9qE= github.com/gin-contrib/sse v0.1.0/go.mod h1:RHrZQHXnP2xjPF+u1gW/2HnVO7nvIa9PG3Gm+fLHvGI= github.com/gin-gonic/gin v1.6.3/go.mod h1:75u5sXoLsGZoRN5Sgbi1eraJ4GU3++wFwWzhwvtwp4M= -github.com/gin-gonic/gin v1.8.1 h1:4+fr/el88TOO3ewCmQr8cx/CtZ/umlIRIs5M4NTNjf8= -github.com/gin-gonic/gin v1.8.1/go.mod h1:ji8BvRH1azfM+SYow9zQ6SZMvR8qOMZHmsCuWR9tTTk= +github.com/gin-gonic/gin v1.9.1 h1:4idEAncQnU5cB7BeOkPtxjfCSye0AAm1R0RVIqJ+Jmg= +github.com/gin-gonic/gin v1.9.1/go.mod h1:hPrL7YrpYKXt5YId3A/Tnip5kqbEAP+KLuI3SUcPTeU= github.com/go-audio/audio v1.0.0 h1:zS9vebldgbQqktK4H0lUqWrG8P0NxCJVqcj7ZpNnwd4= github.com/go-audio/audio v1.0.0/go.mod h1:6uAu0+H2lHkwdGsAY+j2wHPNPpPoeg5AaEFh9FlA+Zs= github.com/go-audio/riff v1.0.0 h1:d8iCGbDvox9BfLagY94fBynxSPHO80LmZCaOsmKxokA= @@ -332,7 +341,6 @@ github.com/gobwas/ws v1.0.2 h1:CoAavW/wd/kulfZmSIBt6p24n4j7tHgNVCjsfHVNUbo= github.com/gobwas/ws v1.0.2/go.mod h1:szmBTxLgaFppYjEmNtny/v3w89xOydFnnZMcgRRu/EM= github.com/goccy/go-graphviz v0.1.3-0.20240305010347-606fdf55b06d h1:V1/uQfndsWudlWLRn3pKUj6QZcifa9BZyeaedNA+Wik= github.com/goccy/go-graphviz v0.1.3-0.20240305010347-606fdf55b06d/go.mod h1:pMYpbAqJT10V8dzV1JN/g/wUlG/0imKPzn3ZsrchGCI= -github.com/goccy/go-json v0.9.7/go.mod h1:6MelG93GURQebXPDq3khkgXZkazVtN9CRI+MGFi0w8I= github.com/goccy/go-json v0.10.2 h1:CrxCmQqYDkv1z7lO7Wbh2HN93uovUHgrECaO5ZrCXAU= github.com/goccy/go-json v0.10.2/go.mod h1:6MelG93GURQebXPDq3khkgXZkazVtN9CRI+MGFi0w8I= github.com/gofrs/flock v0.8.0/go.mod h1:F1TvTiK9OcQqauNUHlbJvyl9Qa1QvF/gOUDKA14jxHU= @@ -580,14 +588,16 @@ github.com/klauspost/compress v1.11.7/go.mod h1:aoV0uJVorq1K+umq18yTdKaF57EivdYs github.com/klauspost/compress v1.13.6/go.mod h1:/3/Vjq9QcHkK5uEr5lBEmyoZ1iFhe47etQ6QUkpK6sk= github.com/klauspost/compress v1.16.5 h1:IFV2oUNUzZaz+XyusxpLzpzS8Pt5rh0Z16For/djlyI= github.com/klauspost/compress v1.16.5/go.mod h1:ntbaceVETuRiXiv4DpjP66DpAtAGkEQskQzEyD//IeE= +github.com/klauspost/cpuid/v2 v2.0.9 h1:lgaqFMSdTdQYdZ04uHyN2d/eKdOMyi2YLSvlQIBFYa4= +github.com/klauspost/cpuid/v2 v2.0.9/go.mod h1:FInQzS24/EEf25PyTYn52gqo7WaD8xa0213Md/qVLRg= +github.com/knz/go-libedit v1.10.1/go.mod h1:MZTVkCWyz0oBc7JOWP3wNAzd002ZbM/5hgShxwh4x8M= github.com/konsorten/go-windows-terminal-sequences v1.0.1/go.mod h1:T0+1ngSBFLxvqU3pZ+m/2kptfBszLMUkC4ZK/EgS/cQ= github.com/konsorten/go-windows-terminal-sequences v1.0.2/go.mod h1:T0+1ngSBFLxvqU3pZ+m/2kptfBszLMUkC4ZK/EgS/cQ= github.com/konsorten/go-windows-terminal-sequences v1.0.3/go.mod h1:T0+1ngSBFLxvqU3pZ+m/2kptfBszLMUkC4ZK/EgS/cQ= github.com/kr/fs v0.1.0/go.mod h1:FFnZGqtBN9Gxj7eW1uZ42v5BccTP0vu6NEaFoC2HwRg= github.com/kr/logfmt v0.0.0-20140226030751-b84e30acd515/go.mod h1:+0opPa2QZZtGFBFZlji/RkVcI2GknAs/DXo4wKdlNEc= +github.com/kr/pretty v0.1.0 h1:L/CwN0zerZDmRFUapSPitk6f+Q3+0za1rQkzVuMiMFI= github.com/kr/pretty v0.1.0/go.mod h1:dAy3ld7l9f0ibDNOQOHHMYYIIbhfbHSm3C4ZsoJORNo= -github.com/kr/pretty v0.3.0 h1:WgNl7dwNpEZ6jJ9k1snq4pZsg7DOEN8hP9Xw0Tsjwk0= -github.com/kr/pretty v0.3.0/go.mod h1:640gp4NfQd8pI5XOwp5fnNeVWj67G7CFk/SaSQn7NBk= github.com/kr/pty v1.1.1/go.mod h1:pFQYn66WHrOpPYNljwOMqo10TkYh1fy3cYio2l3bCsQ= github.com/kr/text v0.1.0/go.mod h1:4Jbv+DJW3UT/LiOwJeYQe1efqtUx/iVham/4vfdArNI= github.com/kr/text v0.2.0 h1:5Nx0Ya0ZqY2ygV366QzturHI13Jq95ApcVaJBhpS+AY= @@ -603,16 +613,14 @@ github.com/leodido/go-urn v1.2.0 h1:hpXL4XnriNwQ/ABnpepYM/1vCLWNDfUNts8dX3xTG6Y= github.com/leodido/go-urn v1.2.0/go.mod h1:+8+nEpDfqqsY+g338gtMEUOtuK+4dEMhiQEgxpxOKII= github.com/lestrrat-go/backoff/v2 v2.0.8 h1:oNb5E5isby2kiro9AgdHLv5N5tint1AnDVVf2E2un5A= github.com/lestrrat-go/backoff/v2 v2.0.8/go.mod h1:rHP/q/r9aT27n24JQLa7JhSQZCKBBOiM/uP402WwN8Y= -github.com/lestrrat-go/blackmagic v1.0.0/go.mod h1:TNgH//0vYSs8VXDCfkZLgIrVTTXQELZffUV0tz3MtdQ= -github.com/lestrrat-go/blackmagic v1.0.1 h1:lS5Zts+5HIC/8og6cGHb0uCcNCa3OUt1ygh3Qz2Fe80= -github.com/lestrrat-go/blackmagic v1.0.1/go.mod h1:UrEqBzIR2U6CnzVyUtfM6oZNMt/7O7Vohk2J0OGSAtU= +github.com/lestrrat-go/blackmagic v1.0.2 h1:Cg2gVSc9h7sz9NOByczrbUvLopQmXrfFx//N+AkAr5k= +github.com/lestrrat-go/blackmagic v1.0.2/go.mod h1:UrEqBzIR2U6CnzVyUtfM6oZNMt/7O7Vohk2J0OGSAtU= github.com/lestrrat-go/httpcc v1.0.1 h1:ydWCStUeJLkpYyjLDHihupbn2tYmZ7m22BGkcvZZrIE= github.com/lestrrat-go/httpcc v1.0.1/go.mod h1:qiltp3Mt56+55GPVCbTdM9MlqhvzyuL6W/NMDA8vA5E= -github.com/lestrrat-go/iter v1.0.1/go.mod h1:zIdgO1mRKhn8l9vrZJZz9TUMMFbQbLeTsbqPDrJ/OJc= github.com/lestrrat-go/iter v1.0.2 h1:gMXo1q4c2pHmC3dn8LzRhJfP1ceCbgSiT9lUydIzltI= github.com/lestrrat-go/iter v1.0.2/go.mod h1:Momfcq3AnRlRjI5b5O8/G5/BvpzrhoFTZcn06fEOPt4= -github.com/lestrrat-go/jwx v1.2.25 h1:tAx93jN2SdPvFn08fHNAhqFJazn5mBBOB8Zli0g0otA= -github.com/lestrrat-go/jwx v1.2.25/go.mod h1:zoNuZymNl5lgdcu6P7K6ie2QRll5HVfF4xwxBBK1NxY= +github.com/lestrrat-go/jwx v1.2.29 h1:QT0utmUJ4/12rmsVQrJ3u55bycPkKqGYuGT4tyRhxSQ= +github.com/lestrrat-go/jwx v1.2.29/go.mod h1:hU8k2l6WF0ncx20uQdOmik/Gjg6E3/wIRtXSNFeZuB8= github.com/lestrrat-go/option v1.0.0/go.mod h1:5ZHFbivi4xwXxhxY9XHDe2FHo6/Z7WWmtT7T5nBBp3I= github.com/lestrrat-go/option v1.0.1 h1:oAzP2fvZGQKWkvHa1/SAcFolBEca1oN+mQ7eooNBEYU= github.com/lestrrat-go/option v1.0.1/go.mod h1:5ZHFbivi4xwXxhxY9XHDe2FHo6/Z7WWmtT7T5nBBp3I= @@ -620,8 +628,8 @@ github.com/letsencrypt/pkcs11key/v4 v4.0.0/go.mod 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h1:Iq45c/XA43vh69/j3iqttzPXn0bhXyGjM0Hd github.com/mattn/go-isatty v0.0.10/go.mod h1:qgIWMr58cqv1PHHyhnkY9lrL7etaEgOFcMEpPG5Rm84= github.com/mattn/go-isatty v0.0.11/go.mod h1:PhnuNfih5lzO57/f3n+odYbM4JtupLOxQOAqxQCu2WE= github.com/mattn/go-isatty v0.0.12/go.mod h1:cbi8OIDigv2wuxKPP5vlRcQ1OAZbq2CE4Kysco4FUpU= -github.com/mattn/go-isatty v0.0.18 h1:DOKFKCQ7FNG2L1rbrmstDN4QVRdS89Nkh85u68Uwp98= -github.com/mattn/go-isatty v0.0.18/go.mod h1:W+V8PltTTMOvKvAeJH7IuucS94S2C6jfK/D7dTCTo3Y= +github.com/mattn/go-isatty v0.0.19 h1:JITubQf0MOLdlGRuRq+jtsDlekdYPia9ZFsB8h/APPA= +github.com/mattn/go-isatty v0.0.19/go.mod h1:W+V8PltTTMOvKvAeJH7IuucS94S2C6jfK/D7dTCTo3Y= github.com/mattn/go-pointer v0.0.1 h1:n+XhsuGeVO6MEAp7xyEukFINEa+Quek5psIR/ylA6o0= github.com/mattn/go-pointer v0.0.1/go.mod h1:2zXcozF6qYGgmsG+SeTZz3oAbFLdD3OWqnUbNvJZAlc= github.com/mattn/go-runewidth v0.0.2/go.mod h1:LwmH8dsx7+W8Uxz3IHJYH5QSwggIsqBzpuz5H//U1FU= @@ -772,8 +780,8 @@ github.com/pascaldekloe/goe 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@@ -890,8 +898,6 @@ github.com/rogpeppe/fastuuid v0.0.0-20150106093220-6724a57986af/go.mod h1:XWv6So github.com/rogpeppe/fastuuid v1.2.0/go.mod h1:jVj6XXZzXRy/MSR5jhDC/2q6DgLz+nrA6LYCDYWNEvQ= github.com/rogpeppe/go-internal v1.3.0/go.mod h1:M8bDsm7K2OlrFYOpmOWEs/qY81heoFRclV5y23lUDJ4= github.com/rogpeppe/go-internal v1.6.2/go.mod h1:xXDCJY+GAPziupqXw64V24skbSoqbTEfhy4qGm1nDQc= -github.com/rogpeppe/go-internal v1.9.0 h1:73kH8U+JUqXU8lRuOHeVHaa/SZPifC7BkcraZVejAe8= -github.com/rogpeppe/go-internal v1.9.0/go.mod h1:WtVeX8xhTBvf0smdhujwtBcq4Qrzq/fJaraNFVN+nFs= github.com/rs/cors v1.7.0/go.mod h1:gFx+x8UowdsKA9AchylcLynDq+nNFfI8FkUZdN/jGCU= github.com/rs/cors v1.9.0 h1:l9HGsTsHJcvW14Nk7J9KFz8bzeAWXn3CG6bgt7LsrAE= github.com/rs/cors v1.9.0/go.mod h1:XyqrcTp5zjWr1wsJ8PIRZssZ8b/WMcMf71DJnit4EMU= @@ -992,6 +998,8 @@ github.com/tomarrell/wrapcheck v0.0.0-20201130113247-1683564d9756/go.mod h1:yiFB github.com/tomarrell/wrapcheck v1.0.0/go.mod h1:Bd3i1FaEKe3XmcPoHhNQ+HM0S8P6eIXoQIoGj/ndJkU= 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h1:6SG95UA2DQfeDnfUPMdvaQW0Q7yPrPDi9nlGo2tz2b4= golang.org/x/crypto v0.0.0-20180904163835-0709b304e793/go.mod h1:6SG95UA2DQfeDnfUPMdvaQW0Q7yPrPDi9nlGo2tz2b4= golang.org/x/crypto v0.0.0-20181029021203-45a5f77698d3/go.mod h1:6SG95UA2DQfeDnfUPMdvaQW0Q7yPrPDi9nlGo2tz2b4= @@ -1121,14 +1131,15 @@ golang.org/x/crypto v0.0.0-20201221181555-eec23a3978ad/go.mod h1:jdWPYTVW3xRLrWP golang.org/x/crypto v0.0.0-20210220033148-5ea612d1eb83/go.mod h1:jdWPYTVW3xRLrWPugEBEK3UY2ZEsg3UU495nc5E+M+I= golang.org/x/crypto v0.0.0-20210921155107-089bfa567519/go.mod h1:GvvjBRRGRdwPK5ydBHafDWAxML/pGHZbMvKqRZ5+Abc= golang.org/x/crypto v0.0.0-20220314234659-1baeb1ce4c0b/go.mod h1:IxCIyHEi3zRg3s0A5j5BB6A9Jmi73HwBIUl50j+osU4= -golang.org/x/crypto v0.0.0-20220427172511-eb4f295cb31f/go.mod h1:IxCIyHEi3zRg3s0A5j5BB6A9Jmi73HwBIUl50j+osU4= golang.org/x/crypto v0.0.0-20220622213112-05595931fe9d/go.mod h1:IxCIyHEi3zRg3s0A5j5BB6A9Jmi73HwBIUl50j+osU4= golang.org/x/crypto v0.8.0/go.mod h1:mRqEX+O9/h5TFCrQhkgjo2yKi0yYA+9ecGkdQoHrywE= golang.org/x/crypto v0.11.0/go.mod h1:xgJhtzW8F9jGdVFWZESrid1U1bjeNy4zgy5cRr/CIio= golang.org/x/crypto v0.12.0/go.mod h1:NF0Gs7EO5K4qLn+Ylc+fih8BSTeIjAP05siRnAh98yw= golang.org/x/crypto v0.18.0/go.mod h1:R0j02AL6hcrfOiy9T4ZYp/rcWeMxM3L6QYxlOuEG1mg= -golang.org/x/crypto v0.21.0 h1:X31++rzVUdKhX5sWmSOFZxx8UW/ldWx55cbf08iNAMA= +golang.org/x/crypto v0.19.0/go.mod h1:Iy9bg/ha4yyC70EfRS8jz+B6ybOBKMaSxLj6P6oBDfU= golang.org/x/crypto v0.21.0/go.mod h1:0BP7YvVV9gBbVKyeTG0Gyn+gZm94bibOW5BjDEYAOMs= +golang.org/x/crypto v0.23.0 h1:dIJU/v2J8Mdglj/8rJ6UUOM3Zc9zLZxVZwwxMooUSAI= +golang.org/x/crypto v0.23.0/go.mod h1:CKFgDieR+mRhux2Lsu27y0fO304Db0wZe70UKqHu0v8= golang.org/x/exp v0.0.0-20190121172915-509febef88a4/go.mod h1:CJ0aWSM057203Lf6IL+f9T1iT9GByDxfZKAQTCR3kQA= golang.org/x/exp v0.0.0-20190306152737-a1d7652674e8/go.mod h1:CJ0aWSM057203Lf6IL+f9T1iT9GByDxfZKAQTCR3kQA= golang.org/x/exp v0.0.0-20190510132918-efd6b22b2522/go.mod h1:ZjyILWgesfNpC6sMxTJOJm9Kp84zZh5NQWvqDGG3Qr8= @@ -1175,8 +1186,8 @@ golang.org/x/mod v0.4.1/go.mod h1:s0Qsj1ACt9ePp/hMypM3fl4fZqREWJwdYDEqhRiZZUA= golang.org/x/mod v0.4.2/go.mod h1:s0Qsj1ACt9ePp/hMypM3fl4fZqREWJwdYDEqhRiZZUA= golang.org/x/mod v0.6.0-dev.0.20220419223038-86c51ed26bb4/go.mod h1:jJ57K6gSWd91VN4djpZkiMVwK6gcyfeH4XE8wZrZaV4= golang.org/x/mod v0.8.0/go.mod h1:iBbtSCu2XBx23ZKBPSOrRkjjQPZFPuis4dIYUhu/chs= -golang.org/x/mod v0.11.0 h1:bUO06HqtnRcc/7l71XBe4WcqTZ+3AH1J59zWDDwLKgU= -golang.org/x/mod v0.11.0/go.mod h1:iBbtSCu2XBx23ZKBPSOrRkjjQPZFPuis4dIYUhu/chs= +golang.org/x/mod v0.14.0 h1:dGoOF9QVLYng8IHTm7BAyWqCqSheQ5pYWGhzW00YJr0= +golang.org/x/mod v0.14.0/go.mod h1:hTbmBsO62+eylJbnUtE2MGJUyE7QWk4xUqPFrRgJ+7c= golang.org/x/net v0.0.0-20180724234803-3673e40ba225/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4= golang.org/x/net v0.0.0-20180826012351-8a410e7b638d/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4= golang.org/x/net v0.0.0-20180906233101-161cd47e91fd/go.mod h1:mL1N/T3taQHkDXs73rZJwtUhF3w3ftmwwsq0BUmARs4= @@ -1230,8 +1241,9 @@ golang.org/x/net v0.10.0/go.mod h1:0qNGK6F8kojg2nk9dLZ2mShWaEBan6FAoqfSigmmuDg= golang.org/x/net v0.13.0/go.mod h1:zEVYFnQC7m/vmpQFELhcD1EWkZlX69l4oqgmer6hfKA= golang.org/x/net v0.14.0/go.mod h1:PpSgVXXLK0OxS0F31C1/tv6XNguvCrnXIDrFMspZIUI= golang.org/x/net v0.20.0/go.mod h1:z8BVo6PvndSri0LbOE3hAn0apkU+1YvI6E70E9jsnvY= -golang.org/x/net v0.22.0 h1:9sGLhx7iRIHEiX0oAJ3MRZMUCElJgy7Br1nO+AMN3Tc= -golang.org/x/net v0.22.0/go.mod h1:JKghWKKOSdJwpW2GEx0Ja7fmaKnMsbu+MWVZTokSYmg= +golang.org/x/net v0.21.0/go.mod h1:bIjVDfnllIU7BJ2DNgfnXvpSvtn8VRwhlsaeUTyUS44= +golang.org/x/net v0.25.0 h1:d/OCCoBEUq33pjydKrGQhw7IlUPI2Oylr+8qLx49kac= +golang.org/x/net v0.25.0/go.mod h1:JkAGAh7GEvH74S6FOH42FLoXpXbE/aqXSrIQjXgsiwM= golang.org/x/oauth2 v0.0.0-20180821212333-d2e6202438be/go.mod h1:N/0e6XlmueqKjAGxoOufVs8QHGRruUQn6yWY3a++T0U= golang.org/x/oauth2 v0.0.0-20190226205417-e64efc72b421/go.mod h1:gOpvHmFTYa4IltrdGE7lF6nIHvwfUNPOp7c8zoXwtLw= golang.org/x/oauth2 v0.0.0-20190604053449-0f29369cfe45/go.mod h1:gOpvHmFTYa4IltrdGE7lF6nIHvwfUNPOp7c8zoXwtLw= @@ -1252,8 +1264,8 @@ golang.org/x/sync v0.0.0-20201020160332-67f06af15bc9/go.mod h1:RxMgew5VJxzue5/jJ golang.org/x/sync v0.0.0-20210220032951-036812b2e83c/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM= golang.org/x/sync v0.0.0-20220722155255-886fb9371eb4/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM= golang.org/x/sync v0.1.0/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM= -golang.org/x/sync v0.3.0 h1:ftCYgMx6zT/asHUrPw8BLLscYtGznsLAnjq5RH9P66E= -golang.org/x/sync v0.3.0/go.mod h1:FU7BRWz2tNW+3quACPkgCx/L+uEAv1htQ0V83Z9Rj+Y= +golang.org/x/sync v0.6.0 h1:5BMeUDZ7vkXGfEr1x9B4bRcTH4lpkTkpdh0T/J+qjbQ= +golang.org/x/sync v0.6.0/go.mod h1:Czt+wKu1gCyEFDUtn0jG5QVvpJ6rzVqr5aXyt9drQfk= golang.org/x/sys v0.0.0-20180823144017-11551d06cbcc/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY= golang.org/x/sys v0.0.0-20180830151530-49385e6e1522/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY= golang.org/x/sys v0.0.0-20180905080454-ebe1bf3edb33/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY= @@ -1329,8 +1341,10 @@ golang.org/x/sys v0.9.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg= golang.org/x/sys v0.10.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg= golang.org/x/sys v0.11.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg= golang.org/x/sys v0.16.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA= -golang.org/x/sys v0.18.0 h1:DBdB3niSjOA/O0blCZBqDefyWNYveAYMNF1Wum0DYQ4= +golang.org/x/sys v0.17.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA= golang.org/x/sys v0.18.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA= +golang.org/x/sys v0.20.0 h1:Od9JTbYCk261bKm4M/mw7AklTlFYIa0bIp9BgSm1S8Y= +golang.org/x/sys v0.20.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA= golang.org/x/term v0.0.0-20201117132131-f5c789dd3221/go.mod h1:Nr5EML6q2oocZ2LXRh80K7BxOlk5/8JxuGnuhpl+muw= golang.org/x/term v0.0.0-20201126162022-7de9c90e9dd1/go.mod h1:bj7SfCRtBDWHUb9snDiAeCFNEtKQo2Wmx5Cou7ajbmo= golang.org/x/term v0.0.0-20210927222741-03fcf44c2211/go.mod h1:jbD1KX2456YbFQfuXm/mYQcufACuNUgVhRMnK/tPxf8= @@ -1341,6 +1355,8 @@ golang.org/x/term v0.8.0/go.mod h1:xPskH00ivmX89bAKVGSKKtLOWNx2+17Eiy94tnKShWo= golang.org/x/term v0.10.0/go.mod h1:lpqdcUyK/oCiQxvxVrppt5ggO2KCZ5QblwqPnfZ6d5o= golang.org/x/term v0.11.0/go.mod h1:zC9APTIj3jG3FdV/Ons+XE1riIZXG4aZ4GTHiPZJPIU= golang.org/x/term v0.16.0/go.mod h1:yn7UURbUtPyrVJPGPq404EukNFxcm/foM+bV/bfcDsY= +golang.org/x/term v0.17.0/go.mod h1:lLRBjIVuehSbZlaOtGMbcMncT+aqLLLmKrsjNrUguwk= +golang.org/x/term v0.18.0/go.mod h1:ILwASektA3OnRv7amZ1xhE/KTR+u50pbXfZ03+6Nx58= golang.org/x/text v0.0.0-20170915032832-14c0d48ead0c/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ= golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ= golang.org/x/text v0.3.1-0.20180807135948-17ff2d5776d2/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ= @@ -1355,8 +1371,9 @@ golang.org/x/text v0.7.0/go.mod h1:mrYo+phRRbMaCq/xk9113O4dZlRixOauAjOtrjsXDZ8= golang.org/x/text v0.9.0/go.mod h1:e1OnstbJyHTd6l/uOt8jFFHp6TRDWZR/bV3emEE/zU8= golang.org/x/text v0.11.0/go.mod h1:TvPlkZtksWOMsz7fbANvkp4WM8x/WCo/om8BMLbz+aE= golang.org/x/text v0.12.0/go.mod h1:TvPlkZtksWOMsz7fbANvkp4WM8x/WCo/om8BMLbz+aE= -golang.org/x/text v0.14.0 h1:ScX5w1eTa3QqT8oi6+ziP7dTV1S2+ALU0bI+0zXKWiQ= golang.org/x/text v0.14.0/go.mod h1:18ZOQIKpY8NJVqYksKHtTdi31H5itFRjB5/qKTNYzSU= +golang.org/x/text v0.15.0 h1:h1V/4gjBv8v9cjcR6+AR5+/cIYK5N/WAgiv4xlsEtAk= +golang.org/x/text v0.15.0/go.mod h1:18ZOQIKpY8NJVqYksKHtTdi31H5itFRjB5/qKTNYzSU= golang.org/x/time v0.0.0-20180412165947-fbb02b2291d2/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ= golang.org/x/time v0.0.0-20181108054448-85acf8d2951c/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ= golang.org/x/time v0.0.0-20190308202827-9d24e82272b4/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ= @@ -1458,8 +1475,8 @@ golang.org/x/tools v0.1.0/go.mod h1:xkSsbof2nBLbhDlRMhhhyNLN/zl3eTqcnHD5viDpcZ0= golang.org/x/tools v0.1.5/go.mod h1:o0xws9oXOQQZyjljx8fwUC0k7L1pTE6eaCbjGeHmOkk= golang.org/x/tools v0.1.12/go.mod h1:hNGJHUnrk76NpqgfD5Aqm5Crs+Hm0VOH/i9J2+nxYbc= golang.org/x/tools v0.6.0/go.mod h1:Xwgl3UAJ/d3gWutnCtw505GrjyAbvKui8lOU390QaIU= -golang.org/x/tools v0.10.0 h1:tvDr/iQoUqNdohiYm0LmmKcBk+q86lb9EprIUFhHHGg= -golang.org/x/tools v0.10.0/go.mod h1:UJwyiVBsOA2uwvK/e5OY3GTpDUJriEd+/YlqAwLPmyM= +golang.org/x/tools v0.17.0 h1:FvmRgNOcs3kOa+T20R1uhfP9F6HgG2mfxDv1vrx1Htc= +golang.org/x/tools v0.17.0/go.mod h1:xsh6VxdV005rRVaS6SSAf9oiAqljS7UZUacMZ8Bnsps= golang.org/x/xerrors v0.0.0-20190717185122-a985d3407aa7/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0= golang.org/x/xerrors v0.0.0-20191011141410-1b5146add898/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0= golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0= @@ -1578,8 +1595,8 @@ google.golang.org/protobuf v1.25.0/go.mod h1:9JNX74DMeImyA3h4bdi1ymwjUzf21/xIlba google.golang.org/protobuf v1.25.1-0.20200805231151-a709e31e5d12/go.mod h1:9JNX74DMeImyA3h4bdi1ymwjUzf21/xIlbajtzgsN7c= google.golang.org/protobuf v1.26.0-rc.1/go.mod h1:jlhhOSvTdKEhbULTjvd4ARK9grFBp09yW+WbY/TyQbw= google.golang.org/protobuf v1.26.0/go.mod h1:9q0QmTI4eRPtz6boOQmLYwt+qCgq0jsYwAQnmE0givc= -google.golang.org/protobuf v1.31.0 h1:g0LDEJHgrBl9N9r17Ru3sqWhkIx2NB67okBHPwC7hs8= -google.golang.org/protobuf v1.31.0/go.mod h1:HV8QOd/L58Z+nl8r43ehVNZIU/HEI6OcFqwMG9pJV4I= +google.golang.org/protobuf v1.34.1 h1:9ddQBjfCyZPOHPUiPxpYESBLc+T8P3E+Vo4IbKZgFWg= +google.golang.org/protobuf v1.34.1/go.mod h1:c6P6GXX6sHbq/GpV6MGZEdwhWPcYBgnhAHhKbcUYpos= gopkg.in/alecthomas/kingpin.v2 v2.2.6/go.mod h1:FMv+mEhP44yOT+4EoQTLFTRgOQ1FBLkstjWtayDeSgw= gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0= gopkg.in/check.v1 v1.0.0-20180628173108-788fd7840127/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0= @@ -1609,7 +1626,6 @@ gopkg.in/yaml.v2 v2.2.5/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI= gopkg.in/yaml.v2 v2.2.6/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI= gopkg.in/yaml.v2 v2.2.8/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI= gopkg.in/yaml.v2 v2.3.0/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI= -gopkg.in/yaml.v2 v2.4.0 h1:D8xgwECY7CYvx+Y2n4sBz93Jn9JRvxdiyyo8CTfuKaY= gopkg.in/yaml.v2 v2.4.0/go.mod h1:RDklbk79AGWmwhnvt/jBztapEOGDOx6ZbXqjP6csGnQ= gopkg.in/yaml.v3 v3.0.0-20200313102051-9f266ea9e77c/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM= gopkg.in/yaml.v3 v3.0.0-20210107192922-496545a6307b/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM= @@ -1641,6 +1657,7 @@ mvdan.cc/unparam v0.0.0-20210104141923-aac4ce9116a7/go.mod h1:hBpJkZE8H/sb+VRFvw nhooyr.io/websocket v1.8.6/go.mod h1:B70DZP8IakI65RVQ51MsWP/8jndNma26DVA/nFSCgW0= nhooyr.io/websocket v1.8.7 h1:usjR2uOr/zjjkVMy0lW+PPohFok7PCow5sDjLgX4P4g= nhooyr.io/websocket v1.8.7/go.mod h1:B70DZP8IakI65RVQ51MsWP/8jndNma26DVA/nFSCgW0= +nullprogram.com/x/optparse v1.0.0/go.mod h1:KdyPE+Igbe0jQUrVfMqDMeJQIJZEuyV7pjYmp6pbG50= periph.io/x/conn/v3 v3.7.0 h1:f1EXLn4pkf7AEWwkol2gilCNZ0ElY+bxS4WE2PQXfrA= periph.io/x/conn/v3 v3.7.0/go.mod h1:ypY7UVxgDbP9PJGwFSVelRRagxyXYfttVh7hJZUHEhg= periph.io/x/host/v3 v3.8.1-0.20230331112814-9f0d9f7d76db h1:8+HL7DJFofYRhGoK/UdwhzvQj3I2HrKLQ6dkOC66CZY= diff --git a/oceanprefilter/oceanprefilter.go b/oceanprefilter/oceanprefilter.go index d53169e..0f51756 100644 --- a/oceanprefilter/oceanprefilter.go +++ b/oceanprefilter/oceanprefilter.go @@ -18,6 +18,7 @@ import ( vis "go.viam.com/rdk/vision" "go.viam.com/rdk/vision/classification" objdet "go.viam.com/rdk/vision/objectdetection" + "go.viam.com/rdk/vision/viscapture" viamutils "go.viam.com/utils" ) @@ -77,7 +78,9 @@ type prefilter struct { cancelContext context.Context activeBackgroundWorkers sync.WaitGroup triggerFlag *atomic.Bool // will be a shared variable + currImg atomic.Pointer[image.Image] camName string + properties vision.Properties } // runConfig are the settings that will be fed to the background thread that will constantly be evaluating images for events @@ -102,6 +105,11 @@ func newPrefilter(ctx context.Context, deps resource.Dependencies, conf resource Named: conf.ResourceName().AsNamed(), logger: logger, triggerFlag: &triggerFlag, + properties: vision.Properties{ + ClassificationSupported: true, + DetectionSupported: false, + ObjectPCDsSupported: false, + }, } pf.triggerFlag.Store(false) @@ -177,7 +185,7 @@ func (pf *prefilter) Reconfigure(ctx context.Context, deps resource.Dependencies viamutils.ManagedGo(func() { // if you get an error while running just keep trying forever for { - runErr := run(pf.cancelContext, rc, pf.triggerFlag) + runErr := run(pf.cancelContext, rc, pf.triggerFlag, &pf.currImg) if runErr != nil { pf.logger.Errorw("background camera stream exited with error", "error", runErr) continue // keep trying to run, forever @@ -192,7 +200,7 @@ func (pf *prefilter) Reconfigure(ctx context.Context, deps resource.Dependencies // run sets up a camera stream and then takes new pictures and processes them for anomalies // at the desired frequency. -func run(ctx context.Context, rc runConfig, trigger *atomic.Bool) error { +func run(ctx context.Context, rc runConfig, trigger *atomic.Bool, currImg *atomic.Pointer[image.Image]) error { triggerCount := 0 if rc.cam == nil { return errors.Errorf("underlying camera %q is nil, cannot start background stream", rc.camName) @@ -215,6 +223,7 @@ func run(ctx context.Context, rc runConfig, trigger *atomic.Bool) error { trigger.Store(false) return err } + currImg.Store(&img) // this function is where the decision happens //isTriggered, err := mlFilter(ctx, img, rc) isTriggered, newHists, err := histogramChangeFilter(oldHists, img, rc) @@ -314,6 +323,41 @@ func (pf *prefilter) GetObjectPointClouds( return nil, errUnimplemented } +func (pf *prefilter) GetProperties(ctx context.Context, extra map[string]interface{}) (*vision.Properties, error) { + return &pf.properties, nil +} + +func (pf *prefilter) CaptureAllFromCamera( + ctx context.Context, + cameraName string, + opt viscapture.CaptureOptions, + extra map[string]interface{}, +) (viscapture.VisCapture, error) { + cls := []classification.Classification{} + var img image.Image + select { + case <-pf.cancelContext.Done(): + return viscapture.VisCapture{}, pf.cancelContext.Err() + case <-ctx.Done(): + return viscapture.VisCapture{}, ctx.Err() + default: + if opt.ReturnImage { + if cameraName != pf.camName { + return viscapture.VisCapture{}, errors.Errorf("Camera name %q given to CaptureAllFromCamera is not the same as configured camera %q", cameraName, pf.camName) + } + storedImg := pf.currImg.Load() + img = *storedImg + } + if opt.ReturnClassifications { + if pf.triggerFlag.Load() { + c := classification.NewClassification(1.0, triggerClassName) + cls = append(cls, c) + } + } + } + return viscapture.VisCapture{Image: img, Classifications: classification.Classifications(cls)}, nil +} + func (pf *prefilter) Close(ctx context.Context) error { pf.cancelFunc() pf.activeBackgroundWorkers.Wait()