perception-orogen-image_preprocessing/image_preprocessing.orogen at master · rock-perception/perception-orogen-image_preprocessing · GitHub

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
121
122
123
124
125
126
127
128
129
130
131
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"

typekit.export_types "frame_helper/CameraCalibration"

task_context "BaseTask" do
    property("calibrate", "bool", false)
        .doc("Whether the image should be undistorted. " \
             "Subclasses should have a property that provide the calibration parameter ")

    property("frame_mode", "/base/samples/frame/frame_mode_t", :MODE_BAYER)
        .doc("The mode of the output image")

    property("resize_algorithm", "/frame_helper/ResizeAlgorithm", :BAYER_RESIZE)

    property("scale_x", "double", 0.5)
        .doc("Scale factor in the X (horizontal) direction")

    property("scale_y", "double", 0.5)
        .doc("Scale factor in the Y (vertical) direction")

    property("offset_x",   "int", 0)
        .doc("the offset to be used on the left margin " \
             "in case of resizing widescreen images")

    property("offset_y", "int", 0)
        .doc("the offset to be used on the top margin " \
             "in case of resizing widescreen images")

    property("opencv_num_threads", "int", -1)
        .doc("the maximum number of threads allowed")
end

task_context "DepthImage2Pointcloud" do
    input_port("color_frame", ro_ptr("/base/samples/frame/Frame"))
        .doc("Color Frame for DepthImage if available")

    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"

    property("convert_to_grayscale", "bool", false)
        .doc("Convert the image to grayscale regardless of the output mode. " \
         "Note that this is a no-op if set and frame_mode is MODE_GRAYSCALE")

    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