feat: add default cam properties to vision service

mise.toml

@@ -12,7 +12,7 @@ lockfile = false
 experimental = true
 # (Josh) asdf plugins are just shell scripts that can impose dependencies on
 # arbitrary cli tools and are just generally worse than all the other backend
-# options. If we really need to we can reenable asdf but for now it's disabled
+# options. If we really need to we can re-enable asdf but for now it's disabled
 # to ensure it is not selected by any future `buf use` invocations.
 disable_backends = ["asdf"]
 
@@ -29,7 +29,7 @@ go = "1.23"
 # This one can be installed as a binary but it produces very slightly different output.
 # Switch to that when upgrading.
 "go:google.golang.org/grpc/cmd/protoc-gen-go-grpc" = "1.2.0"
-golangci-lint = "1.61"
+golangci-lint = "v1.61.0"
 node = "22"
 "npm:ts-protoc-gen" = "0.15.0"
 protobuf = "3.20.2"
@@ -40,29 +40,29 @@ protoc-gen-go = "1.35.1"
 
 [tasks.clean]
 description = "Remove all untracked files"
-run = 'git clean -fdx'
+run = "git clean -fdx"
 
 [tasks.buf]
 description = "Compile protos for all platforms"
-depends = ['buf-go', 'buf-web']
+depends = ["buf-go", "buf-web"]
 
 [tasks.buf-go]
 description = "Compile protos for Go"
 sources = ["proto/**/*.proto"]
-outputs = ['**/*.pb.go', '**/*.pb.gw.go']
-depends = ['lint-buf']
-wait_for = ['clean']
+outputs = ["**/*.pb.go", "**/*.pb.gw.go"]
+depends = ["lint-buf"]
+wait_for = ["clean"]
 run = [
-  'buf generate --template ./proto/viam/buf.gen.yaml',
-  'buf generate --template ./proto/viam/buf.gen.tagger.yaml',
+  "buf generate --template ./proto/viam/buf.gen.yaml",
+  "buf generate --template ./proto/viam/buf.gen.tagger.yaml",
 ]
 
 [tasks.buf-web]
 description = "Compile protos for web (js/ts)"
 sources = ["proto/**/*.proto"]
-outputs = ['gen/js/**/*.js', 'gen/js/**/*.ts']
-depends = ['lint-buf']
-wait_for = ['clean']
+outputs = ["gen/js/**/*.js", "gen/js/**/*.ts"]
+depends = ["lint-buf"]
+wait_for = ["clean"]
 quiet = true
 run = """
   # Buf has very weird behavior where any protoc-gen-<whatever> in your path
@@ -82,17 +82,17 @@ run = """
 
 [tasks.lint]
 description = "Run all linters"
-depends = ['lint-buf', 'lint-go']
+depends = ["lint-buf", "lint-go"]
 
 [tasks.lint-buf]
 description = "Lint + format protos"
-wait_for = ['clean']
-run = ['buf lint', 'buf format -w']
+wait_for = ["clean"]
+run = ["buf lint", "buf format -w"]
 
 [tasks.lint-go]
 description = "Lint Go files"
-wait_for = ['clean']
-depends = ['lint-buf']
+wait_for = ["clean"]
+depends = ["lint-buf"]
 run = """
   {% raw %}
   #!/usr/bin/env bash

proto/viam/service/vision/v1/vision.proto

@@ -12,34 +12,40 @@ option java_package = "com.viam.service.vision.v1";
 
 // VisionService declares the gRPC contract for a vision service
 service VisionService {
-  // GetDetectionsFromCamera will return a list of detections in the next image given a camera and a detector
+  // GetDetectionsFromCamera will return a list of detections in the next image
+  // given a camera and a detector
   rpc GetDetectionsFromCamera(GetDetectionsFromCameraRequest) returns (GetDetectionsFromCameraResponse) {
     option (google.api.http) = {post: "/viam/api/v1/service/vision/{name}/camera_detections"};
   }
 
-  // GetDetections will return a list of detections in the next image given the image bytes and a detector
+  // GetDetections will return a list of detections in the next image given the
+  // image bytes and a detector
   rpc GetDetections(GetDetectionsRequest) returns (GetDetectionsResponse) {
     option (google.api.http) = {post: "/viam/api/v1/service/vision/{name}/detections"};
   }
 
-  // GetClassificationsFromCamera will return a list of classifications in the next image given a camera and a classifier
+  // GetClassificationsFromCamera will return a list of classifications in the
+  // next image given a camera and a classifier
   rpc GetClassificationsFromCamera(GetClassificationsFromCameraRequest) returns (GetClassificationsFromCameraResponse) {
     option (google.api.http) = {post: "/viam/api/v1/service/vision/{name}/camera_classifications"};
   }
 
-  // GetClassifications will return a list of classifications in the next image given the image bytes and a classifier
+  // GetClassifications will return a list of classifications in the next image
+  // given the image bytes and a classifier
   rpc GetClassifications(GetClassificationsRequest) returns (GetClassificationsResponse) {
     option (google.api.http) = {post: "/viam/api/v1/service/vision/{name}/classifications"};
   }
 
-  // GetObjectPointClouds returns all the found objects in a pointcloud from a camera of the underlying robot,
-  // as well as the 3-vector center of each of the found objects.
-  // A specific MIME type can be requested but may not necessarily be the same one returned.
+  // GetObjectPointClouds returns all the found objects in a pointcloud from a
+  // camera of the underlying robot, as well as the 3-vector center of each of
+  // the found objects. A specific MIME type can be requested but may not
+  // necessarily be the same one returned.
   rpc GetObjectPointClouds(GetObjectPointCloudsRequest) returns (GetObjectPointCloudsResponse) {
     option (google.api.http) = {post: "/viam/api/v1/service/vision/{name}/object_point_clouds"};
   }
 
-  // GetProperties will return the properties as booleans given the name of the vision service
+  // GetProperties will return the properties as booleans given the name of the
+  // vision service
   rpc GetProperties(GetPropertiesRequest) returns (GetPropertiesResponse) {
     option (google.api.http) = {post: "/viam/api/v1/service/vision/{name}/get_properties"};
   }
@@ -102,7 +108,8 @@ message Detection {
   double confidence = 5;
   // label associated with the detected object
   string class_name = 6;
-  // the four corners of the box, in proportion to the respective image dimension
+  // the four corners of the box, in proportion to the respective image
+  // dimension
   optional double x_min_normalized = 7;
   optional double y_min_normalized = 8;
   optional double x_max_normalized = 9;
@@ -209,4 +216,6 @@ message GetPropertiesResponse {
   bool detections_supported = 2;
   // whether or not 3d segmentation is supported by the vision service
   bool object_point_clouds_supported = 3;
+  // the default camera used for *FromCamera and GetObjectPointClouds calls
+  optional string default_camera = 4;
 }