Transform a Camera

{
  "name": "<your-camera-name>",
  "model": "transform",
  "type": "camera",
  "namespace": "rdk",
  "attributes" : {
    "source" : "<your-camera-name>",
    "pipeline": [
      { "type": "<transformation-type>", "attributes": { ... } },
    ],
    "intrinsic_parameters": {
      "width_px": <int>,
      "height_px": <int>,
      "fx": <float>,
      "fy": <float>,
      "ppx": <float>,
      "ppy": <float>
    },
    "distortion_parameters": {
      "rk1": <float>,
      "rk2": <float>,
      "rk3": <float>,
      "tp1": <float>,
      "tp2": <float>
    },
    "debug": <boolean>
  }
}

The Crop transform crops takes an image and crops it to a rectangular area specified by two points: the top left point ((x_min, y_min)) and the bottom right point ((x_max, y_max)).

{
  "type": "crop",
  "attributes": {
    "x_min_px": int,
    "y_min_px": int,
    "x_max_px": int,
    "y_max_px": int
  }
}

Attributes:

• x_min_px: The x coordinate of the top left point of the rectangular area to crop the image to.
• y_min_px: The y coordinate of the top left point of the rectangular area to crop the image to.
• x_max_px: The x coordinate of the bottom right point of the rectangular area to crop the image to.
• y_max_px: The y coordinate of the bottom right point of the rectangular area to crop the image to.

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

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

{
  "type": "depth_preprocess",
  "attributes": {}
}

Attributes:

• None.

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.

{
  "type": "depth_to_pretty",
  "attributes": {}
}

Attributes:

• None.

The Detections transform takes the input image and overlays the detections from a given detector configured within the vision service.

{
  "type": "detections",
  "attributes": {
    "detector_name": string,
    "confidence_threshold": float
  }
}

Attributes:

• detector_name: The name of the detector configured in the vision service.
• confidence_threshold: Specify to only display detections above the specified threshold (decimal between 0 and 1).

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.

{
  "type": "identity"
}

Attributes:

• None

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

{
  "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.
  • height_px: The height of the image in pixels.
  • ppx: The image center x point.
  • ppy: The image center y point.
  • fx: The image focal x.
  • fy: The image focal y.

The Resize transform resizes the image to the specified height and width.

{
  "type": "resize",
  "attributes": {
    "width_px": int,
    "height_px": int
  }
}

Attributes:

• width_px: Specify the expected width for the aligned image.
• height_px: Specify the expected width for the aligned image.

The Rotate transformation rotates the image by 180 degrees. This feature is useful for when the camera is installed upside down on your robot.

{
  "type": "rotate",
  "attributes": {}
}

Attributes:

• None

The Undistort transform undistorts the input image according to the intrinsics 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.

{
  "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.
  • height_px: The expected height of the aligned image in pixels.
  • 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.