diff --git a/docs/components/camera/transform.md b/docs/components/camera/transform.md index 2dcaf07513..021a89818d 100644 --- a/docs/components/camera/transform.md +++ b/docs/components/camera/transform.md @@ -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: | | `distortion_parameters` | object | Optional | Modified Brown-Conrady parameters used to correct for distortions caused by the shape of the camera lens: | -| `debug` | boolean | Optional | Enables the debug outputs from the camera if `true`.
Default: `false` | The following are the transformation objects available for the `pipeline`: @@ -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": "", - "pipeline": [ - { - "type": "depth_edges", - "attributes": { - "high_threshold_pct": , - "low_threshold_pct": , - "blur_radius_px": - } - } - ] -} -``` - -**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": "", - "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": "", - "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/). @@ -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": "", - "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": "", - "pipeline": [ - { - "type": "overlay", - "attributes": { - "intrinsic_parameters": { - "width_px": , - "height_px": , - "ppx": , - "ppy": , - "fx": , - "fy": , - } - } - } - ] -} -``` - -**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. @@ -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": "", - "pipeline": [ - { - "type": "undistort", - "attributes": { - "intrinsic_parameters": { - "width_px": , - "height_px": , - "ppx": , - "ppy": , - "fx": , - "fy": - }, - "distortion_parameters": { - "rk1": , - "rk2": , - "rk3": , - "tp1": , - "tp2": - } - } - } - ] -} -``` - -**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" >}}