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tahiyasalam wants to merge 11 commits into from
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[DO NOT MERGE - PROTOTYPE] DATA-4768 - Filtered camera passes through annotations #41

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d281043
Update go.mod
tahiyasalam Oct 15, 2025
480a477
Add tag to pass through
tahiyasalam Oct 16, 2025
ecfdb50
Update RDK version and add information to GetImages
tahiyasalam Oct 20, 2025
c8ada9d
Test passing through annotations in image buffer
tahiyasalam Oct 21, 2025
fb8216d
Change go mod dependency
tahiyasalam Oct 21, 2025
8bee2d3
Revert change for source name
tahiyasalam Oct 22, 2025
9e3ddc0
Update go mod
tahiyasalam Dec 9, 2025
27956d0
Add annotations stuff
tahiyasalam Dec 18, 2025
797338b
Merge branch 'main' of github.com:viam-modules/filtered_camera into D…
tahiyasalam Dec 18, 2025
7463f5a
Merge branch 'main' of github.com:viam-modules/filtered_camera into D…
tahiyasalam Jan 6, 2026
759293b
Merge branch 'main' into DATA-4768
bhaney Jan 9, 2026
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6 changes: 5 additions & 1 deletion cam.go
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Original file line number Diff line number Diff line change
Expand Up @@ -548,7 +548,7 @@ func classificationToAnnotations(cs []classification.Classification) data.Annota

func detectionsToAnnotations(ds []objectdetection.Detection) data.Annotations {
annotations := data.Annotations{
BoundingBoxes: make([]data.BoundingBox, 0, len(ds)),
BoundingBoxes: make([]data.BoundingBox, 0, len(ds)),
}
for _, d := range ds {
score := d.Score()
Expand All @@ -563,6 +563,10 @@ func detectionsToAnnotations(ds []objectdetection.Detection) data.Annotations {
YMaxNormalized: bbox[3],
})
}
annotations.Classifications = append(annotations.Classifications, data.Classification{
Label: d.Label(),
Confidence: &score,
})
}
return annotations
}
Expand Down
14 changes: 11 additions & 3 deletions common.go
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ import (
"go.viam.com/rdk/resource"
)

var Family = resource.ModelNamespace("viam").WithFamily("camera")
var Family = resource.ModelNamespace("tahiya").WithFamily("camera")

func IsFromDataMgmt(ctx context.Context, extra map[string]interface{}) bool {
if extra != nil && extra[data.FromDMString] == true {
Expand All @@ -23,10 +23,18 @@ func ImagesToImage(ctx context.Context, ni []camera.NamedImage) ([]byte, camera.
if len(ni) == 0 {
return nil, camera.ImageMetadata{}, errors.New("NamedImage slice is empty, nothing to turn into an Image")
}
data, err := ni[0].Bytes(ctx)
bytes, err := ni[0].Bytes(ctx)
if err != nil {
return nil, camera.ImageMetadata{}, err
}

return data, camera.ImageMetadata{MimeType: ni[0].MimeType(), Annotations: ni[0].Annotations}, nil
// Pass in annotations per image.
// The other option is to add annotations to the NamedImage struct.
// This is just a placeholder since I don't know where exactly in the
// pipeline the annotations will be added.
annotations := ni[0].Annotations
annotations.Classifications = append(annotations.Classifications,
data.Classification{Label: "test_filtered_camera"})

return bytes, camera.ImageMetadata{MimeType: ni[0].MimeType(), Annotations: annotations}, nil
}
53 changes: 41 additions & 12 deletions go.mod
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@ go 1.25.1
require (
github.com/pkg/errors v0.9.1
github.com/rhysd/actionlint v1.7.8
go.viam.com/rdk v0.105.1-0.20251213204917-2ff3c7d9ab45
go.viam.com/rdk v0.106.0
go.viam.com/test v1.2.4
go.viam.com/utils v0.4.0
)
Expand All @@ -25,9 +25,28 @@ require (
github.com/a8m/envsubst v1.4.2 // indirect
github.com/ajstarks/svgo v0.0.0-20211024235047-1546f124cd8b // indirect
github.com/apache/arrow/go/arrow v0.0.0-20201229220542-30ce2eb5d4dc // indirect
github.com/aws/aws-sdk-go-v2 v1.36.3 // indirect
github.com/aws/aws-sdk-go-v2/aws/protocol/eventstream v1.6.10 // indirect
github.com/aws/aws-sdk-go-v2/config v1.29.15 // indirect
github.com/aws/aws-sdk-go-v2/credentials v1.17.68 // indirect
github.com/aws/aws-sdk-go-v2/feature/ec2/imds v1.16.30 // indirect
github.com/aws/aws-sdk-go-v2/internal/configsources v1.3.34 // indirect
github.com/aws/aws-sdk-go-v2/internal/endpoints/v2 v2.6.34 // indirect
github.com/aws/aws-sdk-go-v2/internal/ini v1.8.3 // indirect
github.com/aws/aws-sdk-go-v2/internal/v4a v1.3.34 // indirect
github.com/aws/aws-sdk-go-v2/service/internal/accept-encoding v1.12.3 // indirect
github.com/aws/aws-sdk-go-v2/service/internal/checksum v1.7.2 // indirect
github.com/aws/aws-sdk-go-v2/service/internal/presigned-url v1.12.15 // indirect
github.com/aws/aws-sdk-go-v2/service/internal/s3shared v1.18.15 // indirect
github.com/aws/aws-sdk-go-v2/service/s3 v1.80.1 // indirect
github.com/aws/aws-sdk-go-v2/service/sso v1.25.3 // indirect
github.com/aws/aws-sdk-go-v2/service/ssooidc v1.30.1 // indirect
github.com/aws/aws-sdk-go-v2/service/sts v1.33.20 // indirect
github.com/aws/smithy-go v1.22.3 // indirect
github.com/aybabtme/uniplot v0.0.0-20151203143629-039c559e5e7e // indirect
github.com/benbjohnson/clock v1.3.5 // indirect
github.com/bep/debounce v1.2.1 // indirect
github.com/bgentry/go-netrc v0.0.0-20140422174119-9fd32a8b3d3d // indirect
github.com/bluenviron/gortsplib/v4 v4.8.0 // indirect
github.com/bmatcuk/doublestar/v4 v4.9.1 // indirect
github.com/bufbuild/protocompile v0.9.0 // indirect
Expand All @@ -46,7 +65,6 @@ require (
github.com/desertbit/timer v0.0.0-20180107155436-c41aec40b27f // indirect
github.com/dgottlieb/smarty-assertions v1.2.6 // indirect
github.com/disintegration/imaging v1.6.2 // indirect
github.com/docker/go-units v0.5.0 // indirect
github.com/edaniels/golog v0.0.0-20250821172758-0d08e67686a9 // indirect
github.com/edaniels/lidario v0.0.0-20220607182921-5879aa7b96dd // indirect
github.com/erikstmartin/go-testdb v0.0.0-20160219214506-8d10e4a1bae5 // indirect
Expand All @@ -55,7 +73,7 @@ require (
github.com/fogleman/gg v1.3.0 // indirect
github.com/fsnotify/fsnotify v1.9.0 // indirect
github.com/fullstorydev/grpcurl v1.8.6 // indirect
github.com/gen2brain/malgo v0.11.21 // indirect
github.com/gen2brain/malgo v0.11.24 // indirect
github.com/go-audio/audio v1.0.0 // indirect
github.com/go-audio/riff v1.0.0 // indirect
github.com/go-audio/transforms v0.0.0-20180121090939-51830ccc35a5 // indirect
Expand Down Expand Up @@ -86,6 +104,10 @@ require (
github.com/gorilla/securecookie v1.1.2 // indirect
github.com/grpc-ecosystem/go-grpc-middleware v1.4.0 // indirect
github.com/grpc-ecosystem/grpc-gateway/v2 v2.27.2 // indirect
github.com/hashicorp/aws-sdk-go-base/v2 v2.0.0-beta.65 // indirect
github.com/hashicorp/go-cleanhttp v0.5.2 // indirect
github.com/hashicorp/go-getter v1.8.3 // indirect
github.com/hashicorp/go-version v1.7.0 // indirect
github.com/improbable-eng/grpc-web v0.15.0 // indirect
github.com/jedib0t/go-pretty/v6 v6.4.6 // indirect
github.com/jhump/protoreflect v1.15.6 // indirect
Expand All @@ -110,28 +132,34 @@ require (
github.com/mattn/go-shellwords v1.0.12 // indirect
github.com/matttproud/golang_protobuf_extensions v1.0.4 // indirect
github.com/miekg/dns v1.1.53 // indirect
github.com/mitchellh/go-homedir v1.1.0 // indirect
github.com/montanaflynn/stats v0.7.1 // indirect
github.com/muesli/clusters v0.0.0-20200529215643-2700303c1762 // indirect
github.com/muesli/kmeans v0.3.1 // indirect
github.com/muhlemmer/gu v0.3.1 // indirect
github.com/pion/datachannel v1.5.10 // indirect
github.com/pion/dtls/v2 v2.2.12 // indirect
github.com/pion/ice/v2 v2.3.34 // indirect
github.com/pion/interceptor v0.1.40 // indirect
github.com/pion/dtls/v3 v3.0.7 // indirect
github.com/pion/ice/v4 v4.0.10 // indirect
github.com/pion/interceptor v0.1.41 // indirect
github.com/pion/logging v0.2.4 // indirect
github.com/pion/mdns v0.0.12 // indirect
github.com/pion/mediadevices v0.6.4 // indirect
github.com/pion/mdns/v2 v2.0.7 // indirect
github.com/pion/mediadevices v0.8.0 // indirect
github.com/pion/randutil v0.1.0 // indirect
github.com/pion/rtcp v1.2.15 // indirect
github.com/pion/rtp v1.8.21 // indirect
github.com/pion/sctp v1.8.39 // indirect
github.com/pion/sdp/v3 v3.0.15 // indirect
github.com/pion/rtcp v1.2.16 // indirect
github.com/pion/rtp v1.8.25 // indirect
github.com/pion/sctp v1.8.40 // indirect
github.com/pion/sdp/v3 v3.0.16 // indirect
github.com/pion/srtp/v2 v2.0.20 // indirect
github.com/pion/srtp/v3 v3.0.8 // indirect
github.com/pion/stun v0.6.1 // indirect
github.com/pion/stun/v3 v3.0.0 // indirect
github.com/pion/transport/v2 v2.2.10 // indirect
github.com/pion/transport/v3 v3.0.7 // indirect
github.com/pion/transport/v3 v3.0.8 // indirect
github.com/pion/turn/v2 v2.1.6 // indirect
github.com/pion/webrtc/v3 v3.2.36 // indirect
github.com/pion/turn/v4 v4.1.1 // indirect
github.com/pion/webrtc/v4 v4.1.6 // indirect
github.com/pmezard/go-difflib v1.0.0 // indirect
github.com/power-devops/perfstat v0.0.0-20210106213030-5aafc221ea8c // indirect
github.com/prometheus/procfs v0.15.1 // indirect
Expand All @@ -147,6 +175,7 @@ require (
github.com/tklauser/go-sysconf v0.3.12 // indirect
github.com/tklauser/numcpus v0.6.1 // indirect
github.com/twitchyliquid64/golang-asm v0.15.1 // indirect
github.com/ulikunitz/xz v0.5.15 // indirect
github.com/viamrobotics/ice/v2 v2.3.40 // indirect
github.com/viamrobotics/webrtc/v3 v3.99.16 // indirect
github.com/viamrobotics/zeroconf v1.0.13 // indirect
Expand Down
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