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Remove some transform pipelines (#3775)
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@randhid
randhid authored Dec 30, 2024
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Expand Up @@ -118,7 +118,6 @@ The following attributes are available for `transform` views:
| `pipeline` | array | **Required** | Specify an array of transformation objects. |
| `intrinsic_parameters` | object | Optional | The intrinsic parameters of the camera used to do 2D <-> 3D projections: <ul> <li> <code>width_px</code>: The expected width of the aligned image in pixels. Value must be >= 0.</li> <li> <code>height_px</code>: The expected height of the aligned image in pixels. Value must be >= 0.</li> <li> <code>fx</code>: The image center x point. </li> <li> <code>fy</code>: The image center y point. </li> <li> <code>ppx</code>: The image focal x. </li> <li> <code>ppy</code>: The image focal y. </li> </ul> |
| `distortion_parameters` | object | Optional | Modified Brown-Conrady parameters used to correct for distortions caused by the shape of the camera lens: <ul> <li> <code>rk1</code>: The radial distortion x. </li> <li> <code>rk2</code>: The radial distortion y. </li> <li> <code>rk3</code>: The radial distortion z. </li> <li> <code>tp1</code>: The tangential distortion x. </li> <li> <code>tp2</code>: The tangential distortion y. </li> </ul> |
| `debug` | boolean | Optional | Enables the debug outputs from the camera if `true`. <br> Default: `false` |

The following are the transformation objects available for the `pipeline`:

Expand Down Expand Up @@ -232,73 +231,6 @@ If you have a 100 x 200 image, and you want to crop to a box between the points
- `y_max_px`: The y coordinate or the relative proportion of the bottom right point of the rectangular area to crop the image to.
- `overlay_crop_box`: Set to `true` to not actually carry out the crop, but instead overlay the cropping box on the original image and visualize where the crop would be applied.

### Depth edges

The Depth Edges transform creates a canny edge detector to detect edges on an input depth map.

```json {class="line-numbers linkable-line-numbers"}
{
"source": "<your-source-camera-name>",
"pipeline": [
{
"type": "depth_edges",
"attributes": {
"high_threshold_pct": <float>,
"low_threshold_pct": <float>,
"blur_radius_px": <float>
}
}
]
}
```

**Attributes:**

- `high_threshold_pct`: The high threshold value: between 0.0 - 1.0.
- `low_threshold_pct`: The low threshold value: between 0.0 - 1.0.
- `blur_radius_px`: The blur radius used to smooth the image before applying the filter.

### Depth preprocess

Depth Preprocessing applies some basic hole-filling and edge smoothing to a depth map.

```json {class="line-numbers linkable-line-numbers"}
{
"source": "<your-source-camera-name>",
"pipeline": [
{
"type": "depth_preprocess",
"attributes": {}
}
]
}
```

**Attributes:**

- None.

### Depth to pretty

The Depth-to-Pretty transform takes a depth image and turns it into a colorful image, with blue indicating distant points and red indicating nearby points.
The actual depth information is lost in the transform.

```json {class="line-numbers linkable-line-numbers"}
{
"source": "<your-source-camera-name>",
"pipeline": [
{
"type": "depth_to_pretty",
"attributes": {}
}
]
}
```

**Attributes:**

- None.

### Detections

The Detections transform takes the input image and overlays the detections from a given detector configured within the [vision service](/services/vision/).
Expand All @@ -325,62 +257,6 @@ The Detections transform takes the input image and overlays the detections from
- `confidence_threshold`: Specify to only display detections above the specified threshold (decimal between 0 and 1).
- `valid_labels`: _Optional_. An array of labels that you to see detections for on the camera stream. If not specified, all labels from the classifier are used.

### Identity

The Identity transform does nothing to the image.
You can use this transform to change the underlying camera source's intrinsic parameters or stream type, for example.

```json {class="line-numbers linkable-line-numbers"}
{
"source": "<your-source-camera-name>",
"pipeline": [
{
"type": "identity"
}
]
}
```

**Attributes:**

- None

### Overlay

Overlays the depth and the color 2D images.
Useful to debug the alignment of the two images.

```json {class="line-numbers linkable-line-numbers"}
{
"source": "<your-source-camera-name>",
"pipeline": [
{
"type": "overlay",
"attributes": {
"intrinsic_parameters": {
"width_px": <int>,
"height_px": <int>,
"ppx": <float>,
"ppy": <float>,
"fx": <float>,
"fy": <float>,
}
}
}
]
}
```

**Attributes:**

- `intrinsic_parameters`: The intrinsic parameters of the camera used to do 2D <-> 3D projections.
- `width_px`: The width of the image in pixels. Value must be >= 0.
- `height_px`: The height of the image in pixels. Value must be >= 0.
- `ppx`: The image center x point.
- `ppy`: The image center y point.
- `fx`: The image focal x.
- `fy`: The image focal y.

### Resize

The Resize transform resizes the image to the specified height and width.
Expand Down Expand Up @@ -428,74 +304,6 @@ This feature is useful for when the camera is installed upside down or sideways

- `angle_deg`: Rotate the image by a specific angle in degrees.

### Undistort

The Undistort transform undistorts the input image according to the intrinsic and distortion parameters specified within the camera parameters.
Currently only supports a Brown-Conrady model of distortion (20 September 2022).
For further information, please refer to the [OpenCV docs](https://docs.opencv.org/3.4/da/d54/group__imgproc__transform.html#ga7dfb72c9cf9780a347fbe3d1c47e5d5a).

```json {class="line-numbers linkable-line-numbers"}
{
"source": "<your-source-camera-name>",
"pipeline": [
{
"type": "undistort",
"attributes": {
"intrinsic_parameters": {
"width_px": <int>,
"height_px": <int>,
"ppx": <float>,
"ppy": <float>,
"fx": <float>,
"fy": <float>
},
"distortion_parameters": {
"rk1": <float>,
"rk2": <float>,
"rk3": <float>,
"tp1": <float>,
"tp2": <float>
}
}
}
]
}
```

**Attributes:**

- `intrinsic_parameters`: The intrinsic parameters of the camera used to do 2D <-> 3D projections.
- `width_px`: The expected width of the aligned image in pixels. Value must be >= 0.
- `height_px`: The expected height of the aligned image in pixels. Value must be >= 0.
- `ppx`: The image center x point.
- `ppy`: The image center y point.
- `fx`: The image focal x.
- `fy`: The image focal y.
- `distortion_parameters`: Modified Brown-Conrady parameters used to correct for distortions caused by the shape of the camera lens.
- `rk1`: The radial distortion x.
- `rk2`: The radial distortion y.
- `rk3`: The radial distortion z.
- `tp1`: The tangential distortion x.
- `tp2`: The tangential distortion y.

## Example

```json {class="line-numbers linkable-line-numbers"}
{
"name": "camera_name",
"model": "transform",
"type": "camera",
"namespace": "rdk",
"attributes": {
"source": "physical_cam",
"pipeline": [
{ "type": "rotate", "attributes": {} },
{ "type": "resize", "attributes": { "width_px": 200, "height_px": 100 } }
]
}
}
```

## View the camera stream

{{< readfile "/static/include/components/camera-view-camera-stream.md" >}}
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