-
Notifications
You must be signed in to change notification settings - Fork 4
/
image_preprocessing.orogen
120 lines (91 loc) · 3.68 KB
/
image_preprocessing.orogen
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
name "image_preprocessing"
version "0.1"
using_library "base-types"
import_types_from "base"
using_task_library "transformer"
using_library "frame_helper"
import_types_from "frame_helper/Calibration.h"
import_types_from "frame_helper/FrameHelperTypes.h"
task_context "BaseTask" do
property("calibrate","bool",false)
property("frame_mode", "/base/samples/frame/frame_mode_t", :MODE_BAYER).
doc "output frame mode"
property("resize_algorithm","/frame_helper/ResizeAlgorithm",:BAYER_RESIZE)
property("scale_x", "double", 0.5).
doc "scale factor for the x direction"
property("scale_y", "double" ,0.5).
doc "scale factor for the y direction"
property("offset_x", "int", 0).
doc "the offset to be used on the left margin in case the of resizing widescreen images"
property("offset_y", "int", 0).
doc "the offset to be used on the left margin in case the of resizing widescreen images"
end
task_context "DepthImage2Pointcloud" do
input_port("color_frame", ro_ptr("/base/samples/frame/Frame")).
doc("Color Frame for DepthImage if availible")
input_port "frame", ro_ptr("/base/samples/DistanceImage")
output_port "pointcloud", "/base/samples/Pointcloud"
port_driven
stream_aligner do
max_latency 0.1
align_port "color_frame",0.3
align_port "frame",0.3
end
transformer do
transform "input", "pc"
max_latency 60
end
end
task_context "MonoTask" do
subclasses "BaseTask"
input_port "frame", ro_ptr("/base/samples/frame/Frame")
output_port "oframe", ro_ptr("/base/samples/frame/Frame")
property("calibration","frame_helper/CameraCalibration")
port_driven "frame"
end
task_context "HSVSegmentationAndBlur" do
input_port "frame", ro_ptr("/base/samples/frame/Frame")
output_port "oframe", ro_ptr("/base/samples/frame/Frame")
output_port "binary_result", ro_ptr("/base/samples/frame/Frame")
output_port "hDebug", ro_ptr("/base/samples/frame/Frame")
output_port "hDebugGray", ro_ptr("/base/samples/frame/Frame")
output_port "vDebug", ro_ptr("/base/samples/frame/Frame")
output_port "vDebugGray", ro_ptr("/base/samples/frame/Frame")
output_port "sDebug", ro_ptr("/base/samples/frame/Frame")
output_port "sDebugGray", ro_ptr("/base/samples/frame/Frame")
output_port "hsv_v_frame", ro_ptr("/base/samples/frame/Frame")
property("hMin","int",0)
property("hMax","int",255)
property("vMin","int",0)
property("sMax","int",255)
property("sMin","int",0)
property("vMax","int",255)
property("blur","int",0)
property("unsetValue","int",0)
property("invert","bool",false)
property("minVadapt","int",110)
.doc("minumum adaptation for V value")
property("maxVadapt","int",140)
.doc("minumum adaptation for V value")
property("target_pixel_s","int",100)
property("steps_per_frame","int",1)
port_driven "frame"
end
task_context "StereoTask" do
subclasses "BaseTask"
input_port "frame_left", ro_ptr("/base/samples/frame/Frame")
input_port "frame_right", ro_ptr("/base/samples/frame/Frame")
output_port "oframe_pair", ro_ptr("/base/samples/frame/FramePair")
property("calibration","/frame_helper/StereoCalibration")
port_driven "frame_left","frame_right"
end
# Declares a deployment, i.e. an actual executable that contains various tasks.
deployment "image_preprocessing_test" do
# This is a test deployment that should not be installed
do_not_install
task("mono_image_preprocessing", "MonoTask")
task("stereo_image_preprocessing", "StereoTask")
end
deployment "stereo_image_preprocessing" do
task("stereo_image_preprocessing", "StereoTask")
end