def declare_forwards(_p):
p = {'publisher': [ Forward('topic_name', new_key='namespace') ]}
i = {'colorizer': [ Forward('input', new_key='pointcloud'),
Forward('clusters', new_key='input')]}
o = {}
return (p, i, o)
def declare_forwards(_p):
i = {
'cluster_drawer': [Forward('clusters2d')],
'plane_drawer': [Forward('image'),
Forward('masks', 'plane_mask')]
}
return ({}, i, {})
def declare_forwards(cls, _p):
p = {'json_db': [Forward('value', 'json_db')],
'object_id': [Forward('value', 'object_id')],
'trainer': 'all'}
i = {}
o = {}
return (p, i, o)
def declare_forwards(cls, p):
p = {
'gen':
[Forward(key='step'),
Forward(key='amount', new_key='amount1')],
'inc': [Forward(key='amount', new_key='amount2')]
}
i = {}
o = {'inc': [Forward(key='out', new_key='value', new_doc='New docs')]}
return (p, i, o)
def declare_forwards(p_in):
p, i, o = BaseSource.declare_forwards(p_in)
p['source'] = [Forward('bag', 'bag', "The bag file name.", "data.bag")]
o['source'] = [
Forward('image', 'image_message'),
Forward('depth', 'depth_message'),
Forward('image_info', 'image_info_message'),
Forward('depth_info', 'depth_info_message')
]
return (p, i, o)
def declare_forwards(p_in):
p, i, o = BaseSource.declare_forwards(p_in)
#notice that this is not a forward declare
#its a declaration with the name, and a pointer to a tendril.
o['source'] = o.get('source', []) + [
Forward('image', 'image_message'),
Forward('depth', 'depth_message'),
Forward('image_info', 'image_info_message'),
Forward('depth_info', 'depth_info_message')
]
return (p, i, o)
def declare_forwards(self, _p):
p = {'detector': 'all'}
i = {
'detector': [Forward('image'),
Forward('depth'),
Forward('K')],
'mat_to_cloud': [Forward('points', 'points3d')]
}
o = {
'detector': 'all',
'mat_to_cloud': [Forward('point_cloud', 'cloud_out')]
}
return (p, i, o)
def declare_forwards(p):
p = {'clusterer': 'all', 'table_detector': 'all'}
i = {'passthrough': 'all'}
o = {
'clusterer': [Forward('clusters2d'),
Forward('clusters3d')],
'table_detector':
[Forward('clouds_hull'),
Forward('table_coefficients')],
'table_pose': [Forward('pose_results')]
}
return (p, i, o)
def declare_forwards(_p):
p = {
'pc_publisher': [
Forward('topic_name', 'tabletop_cluster_topic',
'The ROS topic to use for the PointCloud2 message.',
'tabletop_cluster')
]
}
i = {
'cluster_converter': [Forward('clusters3d')],
'passthrough': [Forward('image_message'),
Forward('pose_results')]
}
return (p, i, {})
def declare_forwards(p):
p = { }
i = { }
o = {'detector_': [Forward('pose_results')]
}
return (p,i,o)
def declare_forwards(_p):
p = {'marker_array_hulls': [Forward('topic_name', 'marker_hull_topic',
'The ROS topic to use for the table message.', 'marker_table_hulls')],
'marker_array_origins': [Forward('topic_name', 'marker_origin_topic',
'The ROS topic to use for the table message.', 'marker_table_origins')],
'marker_array_tables': [Forward('topic_name', 'marker_table_topic',
'The ROS topic to use for the table message.', 'marker_tables')],
'marker_array_clusters': [Forward('topic_name', 'marker_array_clusters',
'The ROS topic to use for the markers of the clusters.',
'marker_array_clusters')],
'table_array': [Forward('topic_name', 'table_array', 'The array of found tables.', 'table_array')]
}
i = {'table_msg_assembler': [Forward('clouds_hull')],
'table_visualization_msg_assembler': [Forward('clusters3d'), Forward('table_array_msg')],
'passthrough': [Forward('image_message'), Forward('pose_results')]}
return (p,i,{})
def declare_forwards(p):
cell_types = FeatureDescriptor._figure_out_cell_types(p)
# everybody needs an image
if cell_types['feature_descriptor_cell'] is None:
i = {
'image_passthrough': [Forward('in', 'image')],
'mask_passthrough': [Forward('in', 'mask')]
}
if 'depth' in cell_types['feature_cell'].inputs.keys():
i['feature_cell'] = [Forward('depth')]
o = {
'feature_cell': Forward('keypoints'),
'descriptor_cell': Forward('descriptors')
}
else:
# deal with the combo case
i = {'feature_descriptor_cell': 'all'}
o = {'feature_descriptor_cell': 'all'}
return ({}, i, o)
def declare_forwards(_p):
"""
Implement the virtual function from the base class
"""
# we forward the start parameter of the cells 'i2' but the user will
# see it as 'start2'
p = {'i2': [Forward('start', new_key='start2', new_default=20)]}
# there are no inputs to expose to the user
i = {}
# we forward all the outputs from add to the user
o = {'add': 'all'}
return (p, i, o)
def declare_forwards(_p):
"""
Implement the virtual function from the base class
"""
p = {
'throttle': [Forward('n', new_key='every_n')],
'mat2image': 'all',
'publisher': 'all',
}
i = {'mat2image': 'all'}
o = {
'throttled_publisher': 'all' # has_subscribers
}
return (p, i, o)
def declare_forwards(_p):
#inputs
i = {
'gray_image': [Forward('in', 'image')],
'rgb_image': [Forward('in', 'color_image')],
'camera_info': [Forward('in', 'K_image')]
}
#outputs
o = {
'pose_calc': [Forward('R'), Forward('T')],
'gather': [Forward('found')],
'fps': [Forward('image', 'debug_image')]
}
return ({}, i, o)
def declare_forwards(_p):
p = {'crop_box': 'all'}
p['image'] = [
Forward('topic_name', 'rgb_image_topic',
'The ROS topic for the RGB image.',
'/camera/rgb/image_color')
]
p['image_info'] = [
Forward('topic_name', 'rgb_camera_info',
'The ROS topic for the RGB camera info.',
'/camera/rgb/camera_info')
]
p['depth'] = [
Forward('topic_name', 'depth_image_topic',
'The ROS topic for the depth image.',
'/camera/depth_registered/image_raw')
]
p['depth_info'] = [
Forward('topic_name', 'depth_camera_info',
'The ROS topic for the depth camera info.',
'/camera/depth_registered/camera_info')
]
i = {}
o = {
'camera_info_image': [
Forward('K', 'K_image',
'The camera intrinsics matrix of the image camera.')
],
'depth_map': [
Forward('K', 'K_depth',
'The camera intrinsics matrix of the depth camera.')
],
'crop_box': [
Forward('rgb', 'image', 'The RGB image from a OpenNI device.'),
Forward(
'depth',
new_doc=
'The depth map from a OpenNI device. This is a CV_32FC1, with values in meters.'
),
Forward('points3d'),
Forward('mask')
]
}
if HAS_PCL:
o['cloud'] = [Forward('point_cloud')]
return (p, i, o)
def declare_forwards(_p):
p = {'publisher': [ Forward('topic_name', new_key='namespace') ]}
i = {'convert2msg': [ Forward('input', new_key='input')]}
o = {}
return (p, i, o)
def declare_forwards(cls, params):
p = {'gen': 'all', 'inc': [Forward(key='amount')]}
i = {}
o = {'inc': [Forward(key='out', new_key='value', new_doc='New docs')]}
return (p, i, o)
def declare_forwards(_p):
p = {}
i = {'msg_assembler': [Forward('clusters3d'), Forward('image_message')],
'passthrough': [Forward('pose_results')]}
o = {}
return (p,i,o)
def declare_forwards(_p):
return ({}, {'image_converter': [Forward('image')]}, {})