├── images ├── peopleSensorModule-add.png ├── peopleSensor-detected-true.png ├── peopleSensorComponent-json.png └── peopleSensorComponent-attributes.png ├── node ├── tsconfig.json ├── package.json ├── src │ └── client.ts └── README.md ├── requirements.txt ├── run.sh ├── client.py ├── src └── main.py ├── .gitignore ├── README.md └── LICENSE /images/peopleSensorModule-add.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/johnwalicki/viam-people-detection-sensor/main/images/peopleSensorModule-add.png -------------------------------------------------------------------------------- /images/peopleSensor-detected-true.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/johnwalicki/viam-people-detection-sensor/main/images/peopleSensor-detected-true.png -------------------------------------------------------------------------------- /images/peopleSensorComponent-json.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/johnwalicki/viam-people-detection-sensor/main/images/peopleSensorComponent-json.png -------------------------------------------------------------------------------- /images/peopleSensorComponent-attributes.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/johnwalicki/viam-people-detection-sensor/main/images/peopleSensorComponent-attributes.png -------------------------------------------------------------------------------- /node/tsconfig.json: -------------------------------------------------------------------------------- 1 | { 2 | "compilerOptions": { 3 | "lib": ["es2023"], 4 | "module": "node16", 5 | "target": "es2022", 6 | 7 | "strict": true, 8 | "esModuleInterop": true, 9 | "skipLibCheck": true, 10 | "moduleResolution": "node16" 11 | }, 12 | "include": ["src"] 13 | } 14 | -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | # Uncomment the following line if you would like to use a release version of the SDK 2 | viam-sdk 3 | viam-sdk[mlmodel] 4 | 5 | # This line points to the version of the SDK that lives at this project's root. 6 | # In production, you would likely want to use the above `viam-sdk` requirement. 7 | #../.. 8 | -------------------------------------------------------------------------------- /node/package.json: -------------------------------------------------------------------------------- 1 | { 2 | "name": "@viamrobotics/sdk-node-peopleSensor-example", 3 | "version": "0.1.0", 4 | "license": "MIT", 5 | "dependencies": { 6 | "@connectrpc/connect-node": "^1.5.0", 7 | "@viamrobotics/sdk": "file:../..", 8 | "node-datachannel": "^0.26.0" 9 | }, 10 | "devDependencies": { 11 | "@types/node": "^22.5.5", 12 | "@viamrobotics/typescript-config": "^0.1.0", 13 | "ansi-regex": ">=5.0.1", 14 | "concurrently": "^5.3.0", 15 | "set-value": ">=4.0.1", 16 | "ts-loader": "^8.0.14", 17 | "ts-protoc-gen": "^0.14.0", 18 | "tsx": "^4.19.1", 19 | "typescript": "^5.2.2" 20 | }, 21 | "scripts": { 22 | "preinstall": "make -C ../../viam-typescript-sdk build", 23 | "test": "echo \"Error: no test specified\" && exit 1", 24 | "start": "tsx --env-file=.env src/client.ts" 25 | } 26 | } 27 | -------------------------------------------------------------------------------- /run.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | cd `dirname $0` 3 | 4 | # Create a virtual environment to run our code 5 | VENV_NAME="venv" 6 | PYTHON="$VENV_NAME/bin/python" 7 | ENV_ERROR="This module requires Python >=3.8, pip, and virtualenv to be installed." 8 | 9 | if ! python3 -m venv $VENV_NAME >/dev/null 2>&1; then 10 | echo "Failed to create virtualenv." 11 | if command -v apt-get >/dev/null; then 12 | echo "Detected Debian/Ubuntu, attempting to install python3-venv automatically." 13 | SUDO="sudo" 14 | if ! command -v $SUDO >/dev/null; then 15 | SUDO="" 16 | fi 17 | if ! apt info python3-venv >/dev/null 2>&1; then 18 | echo "Package info not found, trying apt update" 19 | $SUDO apt -qq update >/dev/null 20 | fi 21 | $SUDO apt install -qqy python3-venv >/dev/null 2>&1 22 | if ! python3 -m venv $VENV_NAME >/dev/null 2>&1; then 23 | echo $ENV_ERROR >&2 24 | exit 1 25 | fi 26 | else 27 | echo $ENV_ERROR >&2 28 | exit 1 29 | fi 30 | fi 31 | 32 | # remove -U if viam-sdk should not be upgraded whenever possible 33 | # -qq suppresses extraneous output from pip 34 | echo "Virtualenv found/created. Installing/upgrading Python packages..." 35 | if ! $PYTHON -m pip install -r requirements.txt -Uqq; then 36 | exit 1 37 | fi 38 | 39 | # Be sure to use `exec` so that termination signals reach the python process, 40 | # or handle forwarding termination signals manually 41 | echo "Starting module..." 42 | exec $PYTHON src/main.py $@ 43 | -------------------------------------------------------------------------------- /client.py: -------------------------------------------------------------------------------- 1 | import asyncio 2 | import os 3 | 4 | from viam.robot.client import RobotClient 5 | from viam.services.vision import VisionClient, Detection 6 | from viam.components.sensor import Sensor 7 | 8 | # Set environment variables. 9 | api_key = os.getenv('VIAM_API_KEY') or '' 10 | api_key_id = os.getenv('VIAM_API_KEY_ID') or '' 11 | address = os.getenv('VIAM_ADDRESS') or '' 12 | 13 | async def connect(): 14 | opts = RobotClient.Options.with_api_key( 15 | api_key=api_key, 16 | api_key_id=api_key_id 17 | ) 18 | return await RobotClient.at_address(address, opts) 19 | 20 | 21 | async def main(): 22 | robot = await connect() 23 | 24 | print("Resources:") 25 | print(robot.resource_names) 26 | 27 | sensor = Sensor.from_robot(robot, name="sensor1") 28 | reading = await sensor.get_readings() 29 | print(f"The reading is {reading}") 30 | 31 | await robot.close() 32 | 33 | 34 | async def main2(): 35 | machine = await connect() 36 | print( "Resources:") 37 | print(machine.resource_names) 38 | # make sure that your detector name in the app matches "peopleDetector" 39 | peopleDetector = VisionClient.from_robot(machine, "peopleDetector") 40 | 41 | while True: 42 | detections = await peopleDetector.get_detections_from_camera("camera-565webcam") 43 | print(detections) 44 | found = False 45 | for d in detections: 46 | if d.confidence > 0.7 and d.class_name.lower() == "person": 47 | print("This is a person!") 48 | found = True 49 | if found: 50 | print("1 - person_detected") 51 | else: 52 | print("0 - no_person_detected") 53 | await asyncio.sleep(10) 54 | 55 | await asyncio.sleep(5) 56 | await machine.close() 57 | 58 | 59 | if __name__ == '__main__': 60 | asyncio.run(main()) -------------------------------------------------------------------------------- /node/src/client.ts: -------------------------------------------------------------------------------- 1 | import { setMaxIdleHTTPParsers } from "http"; 2 | 3 | const VIAM = require('@viamrobotics/sdk'); 4 | const wrtc = require('node-datachannel/polyfill'); 5 | const connectNode = require('@connectrpc/connect-node'); 6 | 7 | // @ts-expect-error 8 | globalThis.VIAM = { 9 | GRPC_TRANSPORT_FACTORY: (opts: any) => 10 | connectNode.createGrpcTransport({ httpVersion: '2', ...opts }), 11 | }; 12 | for (const key in wrtc) { 13 | (global as any)[key] = (wrtc as any)[key]; 14 | } 15 | 16 | async function connect() { 17 | const host = process.env.HOST; 18 | const apiKeyId = process.env.API_KEY_ID; 19 | const apiKeySecret = process.env.API_KEY; 20 | if (!host) { 21 | throw new Error('must set HOST env var'); 22 | } 23 | if (!apiKeyId) { 24 | throw new Error('must set API_KEY_ID env var'); 25 | } 26 | if (!apiKeySecret) { 27 | throw new Error('must set API_KEY_SECRET env var'); 28 | } 29 | 30 | const client = await VIAM.createRobotClient({ 31 | host, 32 | credentials: { 33 | type: 'api-key', 34 | authEntity: apiKeyId, 35 | payload: apiKeySecret, 36 | }, 37 | signalingAddress: 'https://app.viam.com:443', 38 | iceServers: [{ urls: 'stun:global.stun.twilio.com:3478' }], 39 | }); 40 | 41 | console.log(await client.resourceNames()); 42 | 43 | const sensor = new VIAM.SensorClient(client,"sensor1"); 44 | 45 | // Return the reading from a Sensor 46 | const reading = await sensor.getReadings(); 47 | console.log(await sensor.getReadings()); 48 | console.log("The reading is person_detected: "+reading.person_detected); 49 | 50 | // Create a gRPC-web client for a Vision service. 51 | const peopleDetector = new VIAM.VisionClient(client,"peopleDetector"); 52 | // Get Detections from the Vision / mlmodel 53 | const detections = await peopleDetector.getDetectionsFromCamera("camera-565webcam"); 54 | console.log(detections); 55 | 56 | // Loop and report if a person is detected 57 | while( true ) { 58 | const detections = await peopleDetector.getDetectionsFromCamera("camera-565webcam"); 59 | let found = false; 60 | for (let d of detections) { 61 | if (d.confidence > 0.7 && d.className === "Person") { 62 | console.log("This is a person!"); 63 | found = true; 64 | } else { 65 | console.log("No person has been detected."); 66 | found = false; 67 | } 68 | } 69 | await sleep(1000); 70 | } 71 | } 72 | 73 | const sleep = (delay) => new Promise((resolve) => setTimeout(resolve, delay)); 74 | 75 | connect().catch((e) => { 76 | console.error('error connecting to machine', e); 77 | }); 78 | -------------------------------------------------------------------------------- /node/README.md: -------------------------------------------------------------------------------- 1 | # Viam TypeScript SDK / node.js implementation of Viam People Detection Sensor 2 | 3 | This example demonstrates how to: 4 | 5 | - Connect to a machine using Node.js 6 | - Return the getReadings from a Sensor 7 | - Create a gRPC-web client for a Vision service 8 | - Get Detections from the Vision / mlmodel 9 | - Loop and report if a person is detected 10 | 11 | ## Usage 12 | 13 | You must have a `.env` file in this directory with the following connection info which can be easily found in the TypeScript code sample for your machine. Use the `authEntity` value from the Code Sample as the `API_KEY_ID` and the `payload` value as the `API_KEY`. 14 | 15 | ```bash 16 | HOST="" 17 | API_KEY_ID="" 18 | API_KEY="" 19 | ``` 20 | 21 | ## Installation 22 | 23 | Building this example requires the Viam TypeScript SDK to be available in a peer directory of the viam-people-detection-sensor fork. 24 | 25 | ```bash 26 | cd ../.. 27 | git clone https://github.com/viamrobotics/viam-typescript-sdk.git 28 | ``` 29 | 30 | Then you can build / run the peopleSensor example 31 | 32 | ```bash 33 | cd viam-people-detection-sensor/node 34 | npm install 35 | npm start 36 | ``` 37 | 38 | Edit `src/client.ts` to change the machine / sensor / Vision / mlmodel logic being run. 39 | 40 | ## Example 41 | 42 | ```text 43 | $ npm start 44 | 45 | > @viamrobotics/sdk-node-peopleSensor-example@0.1.0 start 46 | > tsx --env-file=.env src/client.ts 47 | 48 | dialing via WebRTC... 49 | gathered local ICE a=candidate:6 1 UDP 1686108927 71.172.60.186 58993 typ srflx raddr 0.0.0.0 rport 0 50 | received remote ICE candidate:2878742611 1 udp 2130706431 127.0.0.1 47692 typ host 51 | received remote ICE candidate:1823732278 1 udp 2130706431 192.168.1.150 53583 typ host 52 | received remote ICE candidate:2036382968 1 udp 1694498815 71.172.60.186 60353 typ srflx raddr 0.0.0.0 rport 60353 53 | connected via WebRTC 54 | [ 55 | ResourceName { 56 | namespace: 'rdk', 57 | type: 'component', 58 | subtype: 'sensor', 59 | name: 'sensor1', 60 | remotePath: [], 61 | localName: '' 62 | }, 63 | ResourceName { 64 | namespace: 'rdk', 65 | type: 'service', 66 | subtype: 'mlmodel', 67 | name: 'peopleModel', 68 | remotePath: [], 69 | localName: '' 70 | }, 71 | ResourceName { 72 | namespace: 'rdk', 73 | type: 'component', 74 | subtype: 'camera', 75 | name: 'peopleCam', 76 | remotePath: [], 77 | localName: '' 78 | }, 79 | ResourceName { 80 | namespace: 'rdk', 81 | type: 'service', 82 | subtype: 'vision', 83 | name: 'peopleDetector', 84 | remotePath: [], 85 | localName: '' 86 | }, 87 | ResourceName { 88 | namespace: 'rdk', 89 | type: 'component', 90 | subtype: 'board', 91 | name: 'board-rpi5-rack5', 92 | remotePath: [], 93 | localName: '' 94 | }, 95 | ResourceName { 96 | namespace: 'rdk', 97 | type: 'component', 98 | subtype: 'camera', 99 | name: 'camera-565webcam', 100 | remotePath: [], 101 | localName: '' 102 | }, 103 | ResourceName { 104 | namespace: 'rdk', 105 | type: 'service', 106 | subtype: 'motion', 107 | name: 'builtin', 108 | remotePath: [], 109 | localName: '' 110 | }, 111 | ResourceName { 112 | namespace: 'rdk', 113 | type: 'service', 114 | subtype: 'data_manager', 115 | name: 'data_manager-rack5', 116 | remotePath: [], 117 | localName: '' 118 | } 119 | ] 120 | { person_detected: 1 } 121 | The reading is person_detected: 1 122 | [ 123 | Detection { 124 | confidence: 0.83984375, 125 | className: 'Person', 126 | xMin: 384n, 127 | yMin: 181n, 128 | xMax: 638n, 129 | yMax: 476n 130 | } 131 | ] 132 | This is a person! 133 | This is a person! 134 | This is a person! 135 | This is a person! 136 | No person has been detected. 137 | No person has been detected. 138 | This is a person! 139 | This is a person! 140 | ``` 141 | -------------------------------------------------------------------------------- /src/main.py: -------------------------------------------------------------------------------- 1 | import asyncio 2 | 3 | from typing import Any, ClassVar, Dict, Mapping, Optional, Sequence 4 | 5 | from typing_extensions import Self 6 | 7 | from viam.components.sensor import Sensor 8 | from viam.logging import getLogger 9 | from viam.module.module import Module 10 | from viam.proto.app.robot import ComponentConfig 11 | from viam.proto.common import ResourceName 12 | from viam.resource.base import ResourceBase 13 | from viam.resource.registry import Registry, ResourceCreatorRegistration 14 | from viam.resource.types import Model, ModelFamily 15 | from viam.utils import SensorReading, ValueTypes 16 | from viam.services.vision import VisionClient, Detection 17 | 18 | LOGGER = getLogger(__name__) 19 | 20 | 21 | class peopleSensorJW(Sensor): 22 | # Subclass the Viam Sensor component and implement the required functions 23 | MODEL: ClassVar[Model] = Model(ModelFamily("walicki", "sensor"), "peopleSensorJW") 24 | 25 | def __init__(self, name: str): 26 | super().__init__(name) 27 | 28 | @classmethod 29 | def new(cls, config: ComponentConfig, dependencies: Mapping[ResourceName, ResourceBase]) -> Self: 30 | sensor = cls(config.name) 31 | sensor.reconfigure(config, dependencies) 32 | return sensor 33 | 34 | @classmethod 35 | def validate_config(cls, config: ComponentConfig) -> Sequence[str]: 36 | if "confidence" in config.attributes.fields: 37 | if not config.attributes.fields["confidence"].HasField("number_value"): 38 | raise Exception("confidence must be a float.") 39 | confidence = config.attributes.fields["confidence"].number_value 40 | if confidence == 0: 41 | raise Exception("confidence cannot be 0.") 42 | return [] 43 | 44 | 45 | def reconfigure(self, config: ComponentConfig, dependencies: Mapping[ResourceName, ResourceBase]): 46 | if "confidence" in config.attributes.fields: 47 | confidence = config.attributes.fields["confidence"].number_value 48 | else: 49 | confidence = 0.5 50 | self.confidence = confidence 51 | 52 | if "camera_source" in config.attributes.fields: 53 | camera_source = config.attributes.fields["camera_source"].string_value 54 | else: 55 | camera_source = "camera-565webcam" 56 | self.camera_source = camera_source 57 | 58 | if "vision_model" in config.attributes.fields: 59 | vision_model = config.attributes.fields["vision_model"].string_value 60 | else: 61 | vision_model = "peopleDetector" 62 | self.vision_model = vision_model 63 | # The vision name will be used to instantiate the VisionClient passed as a dependency 64 | self.vision_service = dependencies[VisionClient.get_resource_name(self.vision_model)] 65 | 66 | 67 | async def get_readings(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> Mapping[str, SensorReading]: 68 | detections = await self.vision_service.get_detections_from_camera(self.camera_source) 69 | isPerson = 0 70 | for d in detections: 71 | if d.confidence > self.confidence and d.class_name.lower() == "person": 72 | isPerson = 1 73 | 74 | return {"person_detected": isPerson} 75 | 76 | 77 | async def close(self): 78 | # This is a completely optional function to include. This will be called when the resource is removed from the config or the module 79 | # is shutting down. 80 | LOGGER.info(f"{self.name} is closed.") 81 | 82 | 83 | async def main(): 84 | """This function creates and starts a new module, after adding all desired resource models. 85 | Resource creators must be registered to the resource registry before the module adds the resource model. 86 | """ 87 | Registry.register_resource_creator(Sensor.API, peopleSensorJW.MODEL, ResourceCreatorRegistration(peopleSensorJW.new, peopleSensorJW.validate_config)) 88 | 89 | module = Module.from_args() 90 | module.add_model_from_registry(Sensor.API, peopleSensorJW.MODEL) 91 | await module.start() 92 | 93 | 94 | if __name__ == "__main__": 95 | asyncio.run(main()) 96 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | build/ 12 | develop-eggs/ 13 | dist/ 14 | downloads/ 15 | eggs/ 16 | .eggs/ 17 | lib/ 18 | lib64/ 19 | parts/ 20 | sdist/ 21 | var/ 22 | wheels/ 23 | share/python-wheels/ 24 | *.egg-info/ 25 | .installed.cfg 26 | *.egg 27 | MANIFEST 28 | 29 | # PyInstaller 30 | # Usually these files are written by a python script from a template 31 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 32 | *.manifest 33 | *.spec 34 | 35 | # Installer logs 36 | pip-log.txt 37 | pip-delete-this-directory.txt 38 | 39 | # Unit test / coverage reports 40 | htmlcov/ 41 | .tox/ 42 | .nox/ 43 | .coverage 44 | .coverage.* 45 | .cache 46 | nosetests.xml 47 | coverage.xml 48 | *.cover 49 | *.py,cover 50 | .hypothesis/ 51 | .pytest_cache/ 52 | cover/ 53 | 54 | # Translations 55 | *.mo 56 | *.pot 57 | 58 | # Django stuff: 59 | *.log 60 | local_settings.py 61 | db.sqlite3 62 | db.sqlite3-journal 63 | 64 | # Flask stuff: 65 | instance/ 66 | .webassets-cache 67 | 68 | # Scrapy stuff: 69 | .scrapy 70 | 71 | # Sphinx documentation 72 | docs/_build/ 73 | 74 | # PyBuilder 75 | .pybuilder/ 76 | target/ 77 | 78 | # Jupyter Notebook 79 | .ipynb_checkpoints 80 | 81 | # IPython 82 | profile_default/ 83 | ipython_config.py 84 | 85 | # pyenv 86 | # For a library or package, you might want to ignore these files since the code is 87 | # intended to run in multiple environments; otherwise, check them in: 88 | # .python-version 89 | 90 | # pipenv 91 | # According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. 92 | # However, in case of collaboration, if having platform-specific dependencies or dependencies 93 | # having no cross-platform support, pipenv may install dependencies that don't work, or not 94 | # install all needed dependencies. 95 | #Pipfile.lock 96 | 97 | # UV 98 | # Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control. 99 | # This is especially recommended for binary packages to ensure reproducibility, and is more 100 | # commonly ignored for libraries. 101 | #uv.lock 102 | 103 | # poetry 104 | # Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. 105 | # This is especially recommended for binary packages to ensure reproducibility, and is more 106 | # commonly ignored for libraries. 107 | # https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control 108 | #poetry.lock 109 | 110 | # pdm 111 | # Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. 112 | #pdm.lock 113 | # pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it 114 | # in version control. 115 | # https://pdm.fming.dev/latest/usage/project/#working-with-version-control 116 | .pdm.toml 117 | .pdm-python 118 | .pdm-build/ 119 | 120 | # PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm 121 | __pypackages__/ 122 | 123 | # Celery stuff 124 | celerybeat-schedule 125 | celerybeat.pid 126 | 127 | # SageMath parsed files 128 | *.sage.py 129 | 130 | # Environments 131 | .env 132 | .venv 133 | env/ 134 | venv/ 135 | ENV/ 136 | env.bak/ 137 | venv.bak/ 138 | 139 | # Spyder project settings 140 | .spyderproject 141 | .spyproject 142 | 143 | # Rope project settings 144 | .ropeproject 145 | 146 | # mkdocs documentation 147 | /site 148 | 149 | # mypy 150 | .mypy_cache/ 151 | .dmypy.json 152 | dmypy.json 153 | 154 | # Pyre type checker 155 | .pyre/ 156 | 157 | # pytype static type analyzer 158 | .pytype/ 159 | 160 | # Cython debug symbols 161 | cython_debug/ 162 | 163 | # PyCharm 164 | # JetBrains specific template is maintained in a separate JetBrains.gitignore that can 165 | # be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore 166 | # and can be added to the global gitignore or merged into this file. For a more nuclear 167 | # option (not recommended) you can uncomment the following to ignore the entire idea folder. 168 | #.idea/ 169 | 170 | # PyPI configuration file 171 | .pypirc 172 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # VIAM People Detection Sensor / Local Module Example 2 | 3 | This VIAM People Detection Sensor example demonstrates how to create a custom modular resource using Viam's Python SDK, and how to connect it to a webcam / People detection vision model in the Viam App dashboard. 4 | 5 | To review this VIAM People Detection Sensor example implementation using Viam's TypeScript SDK / node, see this [README](node/README.md) 6 | 7 |
8 | 9 |
10 | 11 | ## Purpose 12 | 13 | Modular resources allow you to define custom components and services, and add them to your robot. Viam ships with many component types, but you can create a custom sensor using modules. This example is a modification of the [Viam Simple Module Example](https://github.com/viamrobotics/viam-python-sdk/tree/main/examples/simple_module). 14 | 15 | Additional Viam examples: 16 | 17 | * Use GitHub CI to upload to the Viam Registry, take a look at [python-example-module](https://github.com/viam-labs/python-example-module). 18 | * Use Docker to manage Python dependencies, take a look at [python-container-module](https://github.com/viamrobotics/python-container-module). 19 | 20 | ## Project structure 21 | 22 | `git clone` this repo to your registered Viam machine. In my case, a Raspberry Pi 5. 23 | 24 | ```bash 25 | ~/viam/viam-people-detection-sensor $ ls -tR 26 | .: 27 | client.py 28 | README.md 29 | requirements.txt 30 | run.sh 31 | LICENSE 32 | src 33 | 34 | ./src: 35 | main.py 36 | ``` 37 | 38 | ### run.sh 39 | 40 | The `run.sh` script handles installation of Python dependencies from the provided `requirements.txt` and is the entrypoint for the module. It executes the `src/main.py` file. When called by the viam-agent service, the program installs and starts the module. 41 | 42 | ### main.py 43 | 44 | The `main.py` file contains the definition of a new sensor model and code to register it. The `main.py` registers the module using a uniquely namespaced colon-delimited-triplet in the form `namespace:family:name`, and is named according to the Viam API that your model implements. A model with the `viam` namespace is always Viam-provided. In this case, the model triplet name is `walicki:sensor:peopleSensorJW`. Read more about making custom namespaces [here](https://docs.viam.com/operate/reference/naming-modules/#create-a-namespace-for-your-organization). This triplet name will be used in the Viam App to configure the sensor component. 45 | 46 | ```python 47 | class peopleSensorJW(Sensor): 48 | MODEL: ClassVar[Model] = Model(ModelFamily("walicki", "sensor"), "peopleSensorJW") 49 | ``` 50 | 51 | The primary function of `main.py` is to implement the `get_readings()` function. It determines if the camera 52 | and vision model has detected a **person** class at the minimum confidence score using the Object Detection COCO-SSD TensorFlow model. 53 | 54 | ```python 55 | detections = await self.vision_service.get_detections_from_camera(self.camera_source) 56 | isPerson = 0 57 | for d in detections: 58 | if d.confidence > self.confidence and d.class_name.lower() == "person": 59 | isPerson = 1 60 | 61 | return {"person_detected": isPerson} 62 | ``` 63 | 64 | `main.py` also contains `validate_config()` and `reconfigure()` functions. The validator function can raise errors that are triggered because of the configuration. It also returns a sequence of strings representing the implicit dependencies of the resource. The reconfiguration function reconfigures the resource based on the new configuration passed in. 65 | 66 | ### client.py 67 | 68 | Outside the `src` directory, there is a `client.py` file. You can use this file to test the module once you have connected to your robot and configured the module. You will have to update the credentials and robot address by exporting VIAM_API_KEY, VIAM_API_KEY_ID and VIAM_ADDRESS before running the `client.py` program. 69 | 70 | ## Configuring and using the module 71 | 72 | These steps assume that you have a robot available at [app.viam.com](https://app.viam.com). 73 | 74 | The `run.sh` script is the entrypoint for this module. To connect this module with your robot, you must add this module's entrypoint to the robot's config. For example, the entrypoint file may be at `/home/user/viam/viam-people-detection-sensor/run.sh` and you must add this file path to your configuration. See the [documentation](https://docs.viam.com/operate/get-started/other-hardware/#upload-your-module) for more details. 75 | 76 | ```json 77 | ... 78 | "modules": [ 79 | ... 80 | { 81 | "type": "local", 82 | "name": "peopleSensorModule", 83 | "executable_path": "/home/walicki/viam/viam-people-detection-sensor/run.sh" 84 | } 85 | ], 86 | ... 87 | ``` 88 | 89 | ![Viam app screenshot adding a local module](images/peopleSensorModule-add.png) 90 | 91 | ## Adding and configuring a new sensor component 92 | 93 | Once the module has been added to your robot, add a new component that uses the `peopleSensorModule` model. Copy / modify the following json into the robot's configuration via the **{} JSON** button next to **Builder**. See the [documentation](https://docs.viam.com/operate/get-started/other-hardware/#add-your-new-modular-resource-to-your-machines) for more details. 94 | 95 | ![Viam app screenshot adding a local component via json](images/peopleSensorComponent-json.png) 96 | 97 | An example configuration for a Sensor component could look like this: 98 | 99 | ```json 100 | { 101 | "components": [ 102 | { 103 | "name": "sensor1", 104 | "api": "rdk:component:sensor", 105 | "model": "walicki:sensor:peopleSensorJW", 106 | "attributes": { 107 | "vision_model": "peopleDetector", 108 | "confidence": 0.7, 109 | "camera_source": "camera-565webcam" 110 | }, 111 | "depends_on": [ 112 | "peopleDetector" 113 | ] 114 | } 115 | ], 116 | "modules": [ 117 | { 118 | "type": "local", 119 | "name": "peopleSensorModule", 120 | "executable_path": "/home/walicki/viam/viam-people-detection-sensor/run.sh" 121 | } 122 | ] 123 | } 124 | ``` 125 | 126 | ### Attributes 127 | 128 | This example has three attributes fields that get passed to the local module. These can be used to customize which vision model and camera is selected and modify the confidence score of the people detector transform. 129 | 130 | The sensor reports the returned status from the `main.py` function `get_readings()` in the TEST **GetReadings** field of the Viam app. 131 | 132 | ![Viam app screenshot of attributes](images/peopleSensorComponent-attributes.png) 133 | 134 | ## Testing your custom sensor module 135 | 136 | After the robot has started and connected to the module, you can use the provided `client.py` to connect to your robot and make calls to your custom, modular resources. 137 | 138 | ```bash 139 | $ export VIAM_API_KEY= 140 | $ export VIAM_API_KEY_ID= 141 | $ export VIAM_ADDRESS= 142 | $ 143 | $ python3 ./client.py 144 | Resources: 145 | [, 146 | , 147 | , 148 | , 149 | , 150 | , 151 | , 152 | ] 153 | The reading is {'person_detected': 1.0} 154 | ``` 155 | 156 | ### Author 157 | 158 | * [John Walicki](https://github.com/johnwalicki/) 159 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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