def declare_io(self, p, i, o):
self.gray_image = ecto.Passthrough('gray Input')
self.rgb_image = ecto.Passthrough('rgb Input')
self.camera_info = ecto.Passthrough('K')
self.gather = calib.GatherPoints("gather", N=2)
#TODO parameterize the quantizer
#abuse saturated Arithmetics http://opencv.itseez.com/modules/core/doc/intro.html?highlight=saturated.
self.quantizer = imgproc.Quantize('Quantizer', alpha=1, beta=0)
self.invert = imgproc.BitwiseNot()
self.debug = p.debug
offset_x = -.3095 #TODO: FIXME hard coded
offset_y = -.1005
self.cd_bw = calib.PatternDetector(
'Dot Detector, B/W',
rows=p.rows,
cols=p.cols,
pattern_type=p.pattern_type,
square_size=p.square_size,
offset_x=offset_x,
offset_y=offset_y,
)
offset_x = .1505 #TODO: FIXME hard coded
self.cd_wb = calib.PatternDetector(
'Dot Detector, W/B',
rows=p.rows,
cols=p.cols,
pattern_type=p.pattern_type,
square_size=p.square_size,
offset_x=offset_x,
offset_y=offset_y,
)
self.pose_calc = calib.FiducialPoseFinder('Pose Calc')
self.circle_drawer = calib.PatternDrawer('Circle Draw',
rows=p.rows,
cols=p.cols)
self.circle_drawer2 = calib.PatternDrawer('Circle Draw',
rows=p.rows,
cols=p.cols)
self.pose_draw = calib.PoseDrawer('Pose Draw')
self.fps = highgui.FPSDrawer()
#inputs
i.declare('image', self.gray_image.inputs.at('in'))
i.declare('color_image', self.rgb_image.inputs.at('in'))
i.declare('K', self.camera_info.inputs.at('in'))
#outputs
o.declare('R', self.pose_calc.outputs.at('R'))
o.declare('T', self.pose_calc.outputs.at('T'))
o.declare('found', self.gather.outputs.at('found'))
o.declare('debug_image', self.fps.outputs.at('image'))
def declare_cells(p):
#TODO parameterize the quantizer
#abuse saturated Arithmetics http://opencv.itseez.com/modules/core/doc/intro.html?highlight=saturated.
cells = {
'gray_image': ecto.Passthrough('gray Input'),
'rgb_image': ecto.Passthrough('rgb Input'),
'camera_info': ecto.Passthrough('K_image'),
'gather': calib.GatherPoints("gather", N=2),
'quantizer': imgproc.Quantize('Quantizer', alpha=1, beta=0),
'invert': imgproc.BitwiseNot()
}
offset_x = -.3095 #TODO: FIXME hard coded
offset_y = -.1005
cells['cd_bw'] = calib.PatternDetector(
'Dot Detector, B/W',
rows=p.rows,
cols=p.cols,
pattern_type=p.pattern_type,
square_size=p.square_size,
offset_x=offset_x,
offset_y=offset_y,
)
offset_x = .1505 #TODO: FIXME hard coded
cells['cd_wb'] = calib.PatternDetector(
'Dot Detector, W/B',
rows=p.rows,
cols=p.cols,
pattern_type=p.pattern_type,
square_size=p.square_size,
offset_x=offset_x,
offset_y=offset_y,
)
cells['pose_calc'] = calib.FiducialPoseFinder('Pose Calc')
cells['circle_drawer'] = calib.PatternDrawer('Circle Draw',
rows=p.rows,
cols=p.cols)
cells['circle_drawer2'] = calib.PatternDrawer('Circle Draw',
rows=p.rows,
cols=p.cols)
cells['fps'] = highgui.FPSDrawer()
return cells
def __init__(self,
plasm,
rows,
cols,
pattern_type,
square_size,
debug=True):
ecto.BlackBox.__init__(self, plasm)
self.gray_image = ecto.Passthrough('gray Input')
self.rgb_image = ecto.Passthrough('rgb Input')
self.camera_info = ecto.Passthrough('K')
self.gather = calib.GatherPoints("gather", N=2)
self.invert = imgproc.BitwiseNot()
offset_x = -.310
offset_y = -.101099
self.cd_bw = calib.PatternDetector(
'Dot Detector, B/W',
rows=rows,
cols=cols,
pattern_type=pattern_type,
square_size=square_size,
offset_x=offset_x,
offset_y=offset_y,
)
offset_x = .150
self.cd_wb = calib.PatternDetector(
'Dot Detector, W/B',
rows=rows,
cols=cols,
pattern_type=pattern_type,
square_size=square_size,
offset_x=offset_x,
offset_y=offset_y,
)
self.pose_calc = calib.FiducialPoseFinder('Pose Calc')
self.circle_drawer = calib.PatternDrawer('Circle Draw',
rows=rows,
cols=cols)
self.pose_draw = calib.PoseDrawer('Pose Draw')
offset_x = 0.1505
cd_wb = PatternDetector('Dot Detector, W/B',
rows=rows, cols=cols,
pattern_type=pattern_type,
square_size=square_size,
offset_x=offset_x,
offset_y=offset_y)
circle_drawer = PatternDrawer(rows=rows, cols=cols)
circle_drawer2 = PatternDrawer(rows=rows, cols=cols)
gather = calib.GatherPoints("gather", N=2)
quantizer = imgproc.Quantize('Quantizer', alpha=1, beta=0)
rgb2gray = cvtColor(flag=Conversion.RGB2GRAY)
invert =imgproc.BitwiseNot()
poser = FiducialPoseFinder()
pose_drawer = PoseDrawer()
fps = highgui.FPSDrawer()
'''
graph = [
sub_rgb["output"]>>im2mat_rgb["image"],
im2mat_rgb['image'] >> (circle_drawer['input'],
rgb2gray['image']),
rgb2gray['image'] >> quantizer[:],
rgb2gray['image'] >> cd_bw ['input'],
cd_bw [ 'ideal', 'out', 'found'] >> poser['ideal', 'points', 'found'],
sub_rgb_info["output"] >> im2info["camera_info"],
im2info['K'] >> poser['K'],