1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
|
<!--
This tutorial shows a basic sample of augmented reality.
This exhibits:
- how to detect an Aruco marker,
- how to compute the pose of a marker,
- how to make a basic augmented-reality render (we superimpose a cube onto the Aruco marker)
- how to undistort a video according to the camera intrinsic parameters
- how to distort a 3D render according to the camera intrinsic parameters
- how to synchronize efficiently a video process pipeline with the video playback
To use this application, you must open a calibration and a video. Samples are provided in the module folder
of the application, `share/sight/tuto17_simple_ar` on Linux and `share\tuto17_simple_ar` on Windows:
- calibration.xml
- aruco_tag.m4v
-->
<plugin id="tuto17_simple_ar">
<requirement id="sight::module::ui" />
<requirement id="sight::module::viz::scene3d" />
<requirement id="sight::module::ui::qt" />
<requirement id="sight::module::service" />
<requirement id="sight::module::ui" />
<extension implements="sight::app::extension::config">
<id>tuto17_simple_ar</id>
<config>
<!-- ******************************* Objects declaration ****************************** -->
<!-- Series of camera calibration -->
<object uid="camera_set" type="sight::data::camera_set" />
<!-- Camera calibration, deferred because it is extracted from the series -->
<object uid="camera" type="sight::data::camera" deferred="true" />
<!-- Frame timeline used to buffer the output of the video grabber -->
<object uid="frame_tl" type="sight::data::frame_tl" />
<!-- Video frame that is used for the current iteration -->
<object uid="source_frame" type="sight::data::image" />
<!-- Map containing all detected markers in the current frame -->
<object uid="marker_map" type="sight::data::marker_map" />
<!-- Marker matrix in the camera world -->
<object uid="marker_to_camera" type="sight::data::matrix4" />
<!-- Camera matrix in the marker world -->
<object uid="camera_to_marker" type="sight::data::matrix4" />
<!-- Camera matrix in the marker world -->
<object uid="camera_to_marker_damped" type="sight::data::matrix4" />
<!-- Cube superimposed on the video at the marker location -->
<object uid="cube_mesh" type="sight::data::mesh" />
<object uid="undistort_map" type="sight::data::image" />
<object uid="distort_map" type="sight::data::image" />
<object uid="cube_material" type="sight::data::material" />
<!-- Aruco tracker parameters -->
<object uid="aruco_params" type="sight::data::map">
<item key="debug_mode" type="sight::data::boolean" value="true" />
<item key="corner_refinement" type="sight::data::boolean" value="true" />
<item key="adaptive_th_win_size_min" type="sight::data::integer" value="3" />
<item key="adaptive_th_win_size_max" type="sight::data::integer" value="23" />
<item key="adaptive_th_win_size_step" type="sight::data::integer" value="10" />
<item key="adaptive_th_constant" type="sight::data::real" value="7." />
<item key="min_marker_perimeter_rate" type="sight::data::real" value="0.03" />
<item key="max_marker_perimeter_rate" type="sight::data::real" value="4.0" />
<item key="polygonal_approx_accuracy_rate" type="sight::data::real" value="0.03" />
<item key="min_corner_distance_rate" type="sight::data::real" value="0.01" />
<item key="min_distance_to_border" type="sight::data::integer" value="1" />
<item key="min_marker_distance_rate" type="sight::data::real" value="0.0" />
<item key="corner_refinement_win_size" type="sight::data::integer" value="5" />
<item key="corner_refinement_max_iterations" type="sight::data::integer" value="30" />
<item key="corner_refinement_min_accuracy" type="sight::data::real" value="0.1" />
<item key="marker_border_bits" type="sight::data::integer" value="1" />
<item key="perspective_remove_pixel_per_cell" type="sight::data::integer" value="8" />
<item key="perspective_remove_ignored_margin_per_cell" type="sight::data::real" value="0.1" />
<item key="max_erroneous_bits_in_border_rate" type="sight::data::real" value="0.3" />
<item key="min_otsu_std_dev" type="sight::data::real" value="5.0" />
<item key="error_correction_rate" type="sight::data::real" value="0.6" />
</object>
<!-- Damping parameters -->
<object uid="damping_params" type="sight::data::map">
<item key="enabled" type="sight::data::boolean" value="false" />
<item key="weight" type="sight::data::real" value="0.6" />
</object>
<!-- Reprojection parameters -->
<object uid="reprojection_params" type="sight::data::map">
<item key="display" type="sight::data::boolean" value="true" />
<item key="color" type="sight::data::color" value="#ffffff" />
</object>
<!-- ******************************* UI declaration *********************************** -->
<!-- declaration of the views, menu and toolbar -->
<service uid="main_frame" type="sight::module::ui::frame">
<gui>
<frame>
<name>Tutorial 17: Augmented-reality</name>
<icon>tuto17_simple_ar/app.ico</icon>
</frame>
<toolbar />
</gui>
<registry>
<toolbar sid="toolbar_view" />
<view sid="camera_view" />
</registry>
</service>
<service uid="toolbar_view" type="sight::module::ui::toolbar">
<gui>
<layout>
<menu_item name="Load Calibration" icon="sight::module::ui::icons/calibration.svg" />
<editor />
<separator />
<menu_item name="Start" icon="sight::module::ui::icons/play.svg" shortcut="Space" />
<menu_item name="Pause" icon="sight::module::ui::icons/pause.svg" shortcut="Space" />
<menu_item name="Play" icon="sight::module::ui::icons/play.svg" shortcut="Space" />
<menu_item name="Stop" icon="sight::module::ui::icons/stop.svg" />
<menu_item name="Loop" icon="sight::module::ui::icons/loop.svg" style="check" />
<separator />
<menu_item name="Enable video image undistortion" icon="sight::module::ui::icons/barrel_distortion.svg" style="check" />
<menu_item name="Enable 3D rendering distortion" icon="sight::module::ui::icons/pincushion_distortion.svg" style="check" />
<separator />
<menu_item name="Show Mesh on tag" icon="sight::module::ui::icons/mesh.svg" style="check" />
<separator />
<menu_item name="Settings" icon="sight::module::ui::icons/gear.svg" style="check" />
</layout>
</gui>
<registry>
<menu_item sid="load_calib_act" />
<editor sid="video_selector_srv" />
<menu_item sid="start_video_act" />
<menu_item sid="pause_video_act" />
<menu_item sid="resume_video_act" />
<menu_item sid="stop_video_act" />
<menu_item sid="loop_video_act" />
<menu_item sid="start_undistort_act" />
<menu_item sid="start_distort_act" />
<menu_item sid="show_mesh_act" />
<menu_item sid="show_parameters_act" />
</registry>
</service>
<service uid="camera_view" type="sight::module::ui::view">
<gui>
<layout type="sight::ui::layout::line">
<orientation value="horizontal" />
<view proportion="1" />
<view proportion="0" background_color="#36393E" min_width="500" />
</layout>
</gui>
<registry>
<view sid="video_view" />
<view sid="parameters_view" />
</registry>
</service>
<service uid="video_view" type="sight::module::ui::view">
<gui>
<layout type="sight::ui::layout::line">
<orientation value="vertical" />
<view proportion="3" />
<view proportion="0" background_color="#36393E" />
</layout>
</gui>
<registry>
<view sid="generic_scene_srv" />
<view sid="error_label_view" />
</registry>
</service>
<service uid="error_label_view" type="sight::module::ui::view">
<gui>
<layout type="sight::ui::layout::line">
<orientation value="horizontal" />
<view proportion="0" background_color="#36393E" />
<spacer />
</layout>
</gui>
<registry>
<view sid="error_label_srv" />
</registry>
</service>
<service uid="parameters_view" type="sight::module::ui::view">
<gui>
<layout type="sight::ui::layout::toolbox">
<orientation value="vertical" />
<view caption="ArUCO" expanded="false" />
<view caption="Reprojection" expanded="false" />
<view caption="Visualisation" expanded="true" />
<spacer />
</layout>
</gui>
<registry>
<view sid="aruco_parameters_srv" />
<view sid="reprojection_parameters_srv" />
<view sid="viz_view" />
</registry>
</service>
<service uid="viz_view" type="sight::module::ui::view">
<gui>
<layout type="sight::ui::layout::line">
<orientation value="vertical" />
<view proportion="1" />
<view proportion="1" />
<spacer />
</layout>
</gui>
<registry>
<view sid="material_opacity_editor" />
<view sid="damping_parameters_srv" />
</registry>
</service>
<!-- ************************************* Action ************************************ -->
<!-- declaration of actions/slot callers -->
<service uid="show_parameters_act" type="sight::module::ui::action" />
<service uid="load_calib_act" type="sight::module::ui::action" />
<!-- Start the frame grabber -->
<service uid="start_video_act" type="sight::module::ui::action">
<state enabled="false" />
</service>
<!-- Pause the frame grabber -->
<service uid="pause_video_act" type="sight::module::ui::action">
<state visible="false" />
</service>
<!-- Resume the frame grabber -->
<service uid="resume_video_act" type="sight::module::ui::action">
<state visible="false" />
</service>
<!-- Stop the frame grabber -->
<service uid="stop_video_act" type="sight::module::ui::action">
<state enabled="false" />
</service>
<!-- Loop the frame grabber -->
<service uid="loop_video_act" type="sight::module::ui::action">
<state enabled="false" />
</service>
<service uid="start_undistort_act" type="sight::module::ui::action" />
<service uid="start_distort_act" type="sight::module::ui::action" />
<service uid="show_mesh_act" type="sight::module::ui::action">
<state checked="true" />
</service>
<!-- ******************************* Begin Generic scene ******************************* -->
<!-- scene in which the video and the 3D will be rendered -->
<!-- In this tutorial, we move the camera and the marker mesh is fixed -->
<service uid="generic_scene_srv" type="sight::viz::scene3d::render">
<!-- It is essential to use the 'sync' mode when doing AR -->
<!-- In this mode, the renderer will wait for a signal to trigger the rendering -->
<scene render_mode="manual">
<background color="#36393E" />
<layer id="video" compositors="Remap">
<adaptor uid="video_adp" />
<adaptor uid="undistort_adp" />
</layer>
<layer id="default" compositors="Remap">
<adaptor uid="axis_adp" />
<adaptor uid="camera_adp" />
<adaptor uid="material_adp" />
<adaptor uid="cube_adp" />
<adaptor uid="distort_adp" />
</layer>
</scene>
</service>
<service uid="video_adp" type="sight::module::viz::scene3d::adaptor::video">
<in key="image" uid="source_frame" />
</service>
<service uid="undistort_adp" type="sight::module::viz::scene3d::adaptor::compositor_parameter" auto_connect="true">
<inout key="parameter" uid="undistort_map" />
<config compositor_name="Remap" parameter="u_map" shader_type="fragment" visible="false" />
</service>
<service uid="axis_adp" type="sight::module::viz::scene3d::adaptor::axis">
<config length="30" origin="true" label="false" />
</service>
<!-- Camera for the 3D layer -->
<service uid="camera_adp" type="sight::module::viz::scene3d::adaptor::camera">
<inout key="transform" uid="camera_to_marker_damped" />
<in key="calibration" uid="camera" />
</service>
<service uid="material_adp" type="sight::module::viz::scene3d::adaptor::material" auto_connect="true">
<inout key="material" uid="cube_material" />
<config material_name="cube" />
</service>
<!-- Cube displayed on top of the marker plane -->
<service uid="cube_adp" type="sight::module::viz::scene3d::adaptor::mesh" auto_connect="true">
<in key="mesh" uid="cube_mesh" />
<config autoresetcamera="false" material_name="cube" />
</service>
<service uid="distort_adp" type="sight::module::viz::scene3d::adaptor::compositor_parameter" auto_connect="true">
<inout key="parameter" uid="distort_map" />
<config compositor_name="Remap" parameter="u_map" shader_type="fragment" visible="false" />
</service>
<!-- ************************************* Services ************************************ -->
<service uid="load_mesh_srv" type="sight::module::io::vtk::mesh_reader">
<inout key="data" uid="cube_mesh" />
<resource>tuto17_simple_ar/cube_60.vtk</resource>
</service>
<!-- hide axis adaptor until a marker is found -->
<service uid="hide_axis_srv" type="sight::module::ui::action" />
<!-- Calibration reader (here Open_cV's XML/YAML) -->
<service uid="calibration_reader_srv" type="sight::module::io::vision::open_cv_reader">
<inout key="data" uid="camera_set" />
</service>
<!-- extract the first sight::data::camera from the sight::data::camera_set -->
<service uid="extract_camera_srv" type="sight::module::data::get_camera">
<inout key="camera_set" uid="camera_set" />
<out group="camera">
<key index="0" uid="camera" />
</out>
</service>
<!-- GUI to handle aruco tracking parameters -->
<service uid="aruco_parameters_srv" type="sight::module::ui::qt::settings">
<inout key="map" uid="${aruco_params}" />
<ui>
<item name="Show Marker" key="debug_mode" />
<item name="Corner refinement" key="corner_refinement" />
<item name="adpt. Threshold win size min" key="adaptive_th_win_size_min" widget="slider" min="3" max="100" />
<item name="adpt. Threshold win size max" key="adaptive_th_win_size_max" widget="slider" min="4" max="100" />
<item name="adpt. Threshold win size step" key="adaptive_th_win_size_step" widget="slider" min="1" max="100" />
<item name="adpt. threshold constant" key="adaptive_th_constant" min="0." max="30." />
<item name="Min. Marker Perimeter Rate" key="min_marker_perimeter_rate" min="0.01" max="1.0" />
<item name="Max. Marker Perimeter Rate" key="max_marker_perimeter_rate" min="1." max="10." />
<item name="Polygonal Approx. Accuracy Rate" key="polygonal_approx_accuracy_rate" min="0.01" max="1." />
<item name="Min. Corner Distance Rate" key="min_corner_distance_rate" min="0." max="1." />
<item name="Min. Distance to Border" key="min_distance_to_border" widget="slider" min="0" max="10" />
<item name="Min. Marker Distance Rate" key="min_marker_distance_rate" min="0." max="1." />
<item name="Corner Refinement Win. Size" key="corner_refinement_win_size" widget="slider" min="1" max="100" />
<item name="Corner Refinement Max Iterations" key="corner_refinement_max_iterations" widget="slider" min="1" max="10" />
<item name="Corner Refinement Min. Accuracy" key="corner_refinement_min_accuracy" min="0.01" max="10." />
<item name="Marker Border Bits" key="marker_border_bits" widget="slider" min="1" max="100" />
<item name="Perspective Remove Pixel per Cell" key="perspective_remove_pixel_per_cell" widget="slider" min="1" max="32" />
<item name="Perspective Remove Ignored Margin Per Cell" key="perspective_remove_ignored_margin_per_cell" min="0." max="1." />
<item name="Max. Erroneous Bits In Border Rate" key="max_erroneous_bits_in_border_rate" min="0." max="1." />
<item name="Min. Otsu Std. Dev." key="min_otsu_std_dev" min="0." max="100." />
<item name="Error Correction Rate" key="error_correction_rate" min="0." max="1." />
</ui>
</service>
<service uid="reprojection_parameters_srv" type="sight::module::ui::qt::settings">
<inout key="map" uid="${reprojection_params}" />
<ui>
<item name="Show reprojection" key="display" />
<item name="Circle color" key="color" />
</ui>
</service>
<service uid="damping_parameters_srv" type="sight::module::ui::qt::settings">
<inout key="map" uid="${damping_params}" />
<ui>
<item name="Damping" key="enabled" />
<item name="Weight" key="weight" min="0.1" max="1." widget="slider" />
</ui>
</service>
<!-- Gui Service to display a value in a QLabel -->
<service uid="error_label_srv" type="sight::module::ui::qt::text_status">
<label>Reprojection error (RMSE):</label>
<color>#D25252</color>
<size>12pt</size>
<decimals>3</decimals>
</service>
<!-- GUI to select camera (device, file, or stream) -->
<service uid="video_selector_srv" type="sight::module::ui::qt::video::camera">
<inout key="camera" uid="camera" />
<video_support>true</video_support>
</service>
<!-- Grab image from camera device and fill a frame timeline -->
<service uid="video_grabber_srv" type="sight::module::io::video::frame_grabber">
<in key="camera" uid="camera" />
<inout key="frame_tl" uid="frame_tl" />
</service>
<!-- Consumes a frame in the timeline, picks the latest one to be processed -->
<!-- It is overkill in this sample, but mandatory when we use multiple grabbers to synchronize them. -->
<service uid="frame_updater_srv" type="sight::module::sync::synchronizer" auto_connect="false">
<in group="frame_tl">
<key uid="frame_tl" />
</in>
<inout group="frames">
<key uid="source_frame" />
</inout>
<tolerance>100</tolerance>
</service>
<!-- Aruco tracker service -->
<service uid="tracker_srv" type="sight::module::navigation::optics::aruco_tracker" worker="tracking" auto_connect="false">
<in key="camera" uid="camera" />
<inout key="frame" uid="source_frame" />
<inout group="marker_map">
<!-- timeline of detected tag(s) -->
<key uid="marker_map" />
</inout>
<track>
<!-- list of tag's id -->
<marker id="101" />
</track>
<properties from="${aruco_params}" />
</service>
<!-- Computes the pose of the camera with tag(s) detected by aruco -->
<service uid="registration_srv" type="sight::module::geometry::vision::pose_from2d" worker="tracking" auto_connect="false">
<in group="marker_map">
<key uid="marker_map" />
</in>
<in group="camera">
<key uid="camera" />
</in>
<inout group="matrix">
<key uid="marker_to_camera" id="101" />
</inout>
<pattern_width>60</pattern_width>
</service>
<!-- Computes the reprojection error -->
<service uid="error_srv" type="sight::module::geometry::vision::reprojection_error" worker="error" auto_connect="false">
<in group="matrix">
<key uid="marker_to_camera" id="101" />
</in>
<in key="marker_map" uid="marker_map" />
<in key="camera" uid="camera" />
<inout key="frame" uid="source_frame" />
<properties from="${reprojection_params}" pattern_width="60" />
</service>
<!-- Multiply matrices (here only used to inverse "marker_to_camera") -->
<service uid="matrix_reverser_srv" type="sight::module::geometry::concatenate_matrices">
<in group="matrix" auto_connect="false">
<key uid="marker_to_camera" inverse="true" />
</in>
<inout key="output" uid="camera_to_marker" />
</service>
<service uid="undistorter_srv" type="sight::module::geometry::vision::distortion">
<in key="camera" uid="camera" auto_connect="true" />
<inout key="map" uid="undistort_map" />
<mode>undistort</mode>
</service>
<service uid="distorter_srv" type="sight::module::geometry::vision::distortion">
<in key="camera" uid="camera" auto_connect="true" />
<inout key="map" uid="distort_map" />
<mode>distort</mode>
</service>
<service uid="material_opacity_editor" type="sight::module::ui::qt::material_opacity_editor">
<inout key="material" uid="cube_material" />
<label>Cube opacity</label>
</service>
<service uid="damp_matrix_srv" type="sight::module::geometry::weighted_mean_matrix" auto_connect="false">
<in key="raw" uid="camera_to_marker" />
<inout key="damped" uid="camera_to_marker_damped" />
<properties from="${damping_params}" />
</service>
<!-- ******************************* Connections ***************************************** -->
<connect>
<signal>show_parameters_act/is_checked</signal>
<slot>parameters_view/set_visible</slot>
</connect>
<connect>
<signal>show_mesh_act/is_checked</signal>
<slot>cube_adp/update_visibility</slot>
</connect>
<connect>
<signal>hide_axis_srv/is_checked</signal>
<slot>axis_adp/update_visibility</slot>
</connect>
<connect>
<signal>video_selector_srv/configured_file</signal>
<signal>video_selector_srv/configured_stream</signal>
<signal>video_selector_srv/configured_device</signal>
<slot>start_video_act/update</slot>
</connect>
<connect>
<signal>video_grabber_srv/camera_started</signal>
<slot>pause_video_act/show</slot>
<slot>start_video_act/hide</slot>
<slot>stop_video_act/enable</slot>
<slot>loop_video_act/enable</slot>
</connect>
<connect>
<signal>camera/id_modified</signal>
<slot>video_grabber_srv/stop_camera</slot>
</connect>
<connect>
<signal>camera/modified</signal>
<slot>start_video_act/enable</slot>
<slot>stop_video_act/update</slot>
</connect>
<connect>
<signal>error_srv/error_computed</signal>
<slot>error_label_srv/set_double_parameter</slot>
</connect>
<connect>
<signal>camera_set/modified</signal>
<slot>extract_camera_srv/update</slot>
</connect>
<connect>
<signal>tracker_srv/marker_detected</signal>
<slot>axis_adp/update_visibility</slot>
</connect>
<connect>
<signal>load_calib_act/updated</signal>
<slot>calibration_reader_srv/update</slot>
</connect>
<connect>
<signal>start_video_act/updated</signal>
<slot>video_grabber_srv/start_camera</slot>
<slot>updater/start</slot>
</connect>
<connect>
<signal>pause_video_act/updated</signal>
<slot>updater/stop</slot>
<slot>video_grabber_srv/pause_camera</slot>
<slot>resume_video_act/show</slot>
<slot>pause_video_act/hide</slot>
</connect>
<connect>
<signal>resume_video_act/updated</signal>
<slot>video_grabber_srv/pause_camera</slot>
<slot>updater/start</slot>
<slot>resume_video_act/hide</slot>
<slot>pause_video_act/show</slot>
</connect>
<connect>
<signal>stop_video_act/updated</signal>
<slot>video_grabber_srv/stop_camera</slot>
<slot>updater/stop</slot>
<slot>start_video_act/show</slot>
<slot>resume_video_act/hide</slot>
<slot>pause_video_act/hide</slot>
<slot>stop_video_act/disable</slot>
<slot>loop_video_act/disable</slot>
<slot>loop_video_act/uncheck</slot>
</connect>
<connect>
<signal>loop_video_act/updated</signal>
<slot>video_grabber_srv/loop_video</slot>
</connect>
<connect>
<signal>start_undistort_act/checked</signal>
<slot>undistort_adp/show</slot>
<slot>start_distort_act/disable</slot>
</connect>
<connect>
<signal>start_undistort_act/unchecked</signal>
<slot>undistort_adp/hide</slot>
<slot>start_distort_act/enable</slot>
</connect>
<connect>
<signal>start_distort_act/checked</signal>
<slot>distort_adp/show</slot>
<slot>start_undistort_act/disable</slot>
</connect>
<connect>
<signal>start_distort_act/unchecked</signal>
<slot>distort_adp/hide</slot>
<slot>start_undistort_act/enable</slot>
</connect>
<!-- ******************************* Update services ***************************************** -->
<!-- At launch, enable the synchronization with the non-offscreen rendering -->
<update>
<service uid="show_parameters_act" />
<service uid="hide_axis_srv" />
<service uid="load_mesh_srv" />
<sequence uid="updater" loop="true" start="false">
<service uid="frame_updater_srv" />
<service uid="tracker_srv" />
<service uid="registration_srv" />
<service uid="error_srv" />
<service uid="matrix_reverser_srv" />
<service uid="damp_matrix_srv" />
<service uid="generic_scene_srv" />
</sequence>
</update>
</config>
</extension>
</plugin>
|
