def declare_io(self, p, i, o):
self.source = ecto.PassthroughN(items=dict(
K='The camera matrix',
quaternions='A vector of quaternions',
Ts='A vector of translation vectors',
descriptors='A stacked vector of descriptors',
points='The 2D measurements per point.',
points3d=
'The estimated 3d position of the points (3-channel matrices).'))
i.forward_all('source')
o.forward_all('model_filler')
def declare_cells(cls, p):
return {
'cluster_converter':
CellInfo(ClusterConverter),
'pc_publisher':
CellInfo(PointCloudPub, params={'latched': p.latched}),
'passthrough':
ecto.PassthroughN(
items=dict(image_message='The original imagemessage',
pose_results='The final results'))
}
def declare_cells(cls, p):
return {'table_msg_assembler': CellInfo(TableMsgAssembler),
'table_visualization_msg_assembler': CellInfo(TableVisualizationMsgAssembler),
'marker_array_hulls': CellInfo(MarkerArrayPub, params={'latched': p.latched}),
'marker_array_origins': CellInfo(MarkerArrayPub, params={'latched': p.latched}),
'marker_array_tables': CellInfo(MarkerArrayPub, params={'latched': p.latched}),
'marker_array_clusters': CellInfo(MarkerArrayPub),
'table_array': CellInfo(Publisher_TableArray),
'passthrough': ecto.PassthroughN(items=dict(image_message='The original imagemessage',
pose_results='The final results'))
}
def declare_cells(cls, _p):
return {
'passthrough':
ecto.PassthroughN(
items={
'K_image': 'The original calibration matrix',
'points3d': 'The 3d points as cv::Mat_<cv::Vec3f>.'
}),
'table_detector':
TableDetector(),
'clusterer':
OnPlaneClusterer()
}
def declare_io(self, p, i, o):
self.source = ecto.PassthroughN(
items=dict(image='An image',
depth='A depth image',
mask='A mask for valid object pixels.',
K='The camera matrix',
R='The rotation matrix',
T='The translation vector',
frame_number='The frame number.'))
self.trainer = mmod.MModTrainer()
i.forward_all('source')
o.forward_all('model_stacker')
def declare_io(self, _p, i, o):
self.passthrough = ecto.PassthroughN(items=dict(image='An image',
K='The camera matrix'
)
)
i.forward(['image', 'K'], cell_name='passthrough', cell_key=['image', 'K'])
i.forward('mask', cell_name='feature_descriptor', cell_key='mask')
i.forward('points3d', cell_name='guess_generator', cell_key='points3d')
o.forward('object_ids', cell_name='guess_generator', cell_key='object_ids')
o.forward('Rs', cell_name='guess_generator', cell_key='Rs')
o.forward('Ts', cell_name='guess_generator', cell_key='Ts')
o.forward('keypoints', cell_name='feature_descriptor', cell_key='keypoints')
def declare_cells(cls, p):
return {'msg_assembler': CellInfo(PointCloudMsgAssembler),
'passthrough': ecto.PassthroughN(items=dict(pose_results='The final results'))
}
