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')) }