multi cam pipeline

examples/copper_pipeline/kornia_app.ron

@@ -21,10 +21,14 @@
             id: "rerun",
             type: "copper::tasks::rerun_viz::RerunViz",
         ),
-     ],
+        //(
+        //    id: "sobel",
+        //    type: "copper::tasks::sobel::Sobel",
+        //),
+    ],
     cnx: [
-        (src: "cam",  dst: "rerun",   msg: "copper::tasks::ImageRGBU8Msg"),
-        (src: "cam_garden",  dst: "rerun",   msg: "copper::tasks::ImageRGBU8Msg"),
+        (src: "cam_garden", dst: "rerun", msg: "copper::tasks::ImageRGBU8Msg"),
+        (src: "cam", dst: "rerun", msg: "copper::tasks::ImageRGBU8Msg"),
     ],
     logging: (
         slab_size_mib: 1024, // Preallocates 1GiB of memory map file at a time

examples/copper_pipeline/src/tasks/cu_image.rs

@@ -50,6 +50,12 @@ pub struct ImageGrayU8Msg {
     pub image: ImageGrayU8,
 }
 
+impl std::fmt::Debug for ImageGrayU8Msg {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(f, "ImageGrayU8Msg(size: {:?})", self.image.size())
+    }
+}
+
 impl Default for ImageGrayU8Msg {
     fn default() -> Self {
         Self {

examples/copper_pipeline/src/tasks/mod.rs

@@ -4,4 +4,4 @@ pub mod sobel;
 pub mod webcam;
 
 mod cu_image;
-pub use cu_image::ImageRGBU8Msg;
+pub use cu_image::{ImageGrayU8Msg, ImageRGBU8Msg};

examples/copper_pipeline/src/tasks/rerun_viz.rs

@@ -1,6 +1,6 @@
 use cu29::prelude::*;
 
-use super::cu_image::ImageRGBU8Msg;
+use super::cu_image::{ImageGrayU8Msg, ImageRGBU8Msg};
 
 pub struct RerunViz {
     rec: rerun::RecordingStream,
@@ -23,21 +23,25 @@ impl<'cl> CuSinkTask<'cl> for RerunViz {
     }
 
     fn process(&mut self, _clock: &RobotClock, input: Self::Input) -> Result<(), CuError> {
-        let (img1, img2) = input;
+        let (img2, img1) = input;
 
         if let Some(img) = img1.payload() {
-            log_image(&self.rec, "webcam", &img)?;
+            log_image_rgb(&self.rec, "webcam", &img)?;
         }
 
         if let Some(img) = img2.payload() {
-            log_image(&self.rec, "garden", &img)?;
+            log_image_rgb(&self.rec, "garden", &img)?;
         }
 
         Ok(())
     }
 }
 
-fn log_image(rec: &rerun::RecordingStream, name: &str, img: &ImageRGBU8Msg) -> Result<(), CuError> {
+fn log_image_rgb(
+    rec: &rerun::RecordingStream,
+    name: &str,
+    img: &ImageRGBU8Msg,
+) -> Result<(), CuError> {
     rec.log(
         name,
         &rerun::Image::from_elements(
@@ -49,3 +53,20 @@ fn log_image(rec: &rerun::RecordingStream, name: &str, img: &ImageRGBU8Msg) -> R
     .map_err(|e| CuError::new_with_cause("Failed to log image", e))?;
     Ok(())
 }
+
+fn log_image_gray(
+    rec: &rerun::RecordingStream,
+    name: &str,
+    img: &ImageGrayU8Msg,
+) -> Result<(), CuError> {
+    rec.log(
+        name,
+        &rerun::Image::from_elements(
+            img.image.as_slice(),
+            img.image.size().into(),
+            rerun::ColorModel::L,
+        ),
+    )
+    .map_err(|e| CuError::new_with_cause("Failed to log image", e))?;
+    Ok(())
+}

examples/copper_pipeline/src/tasks/sobel.rs

@@ -1,17 +1,17 @@
 use cu29::prelude::*;
-use kornia::imgproc;
+use kornia::{image::Image, imgproc};
 
-use super::cu_image::ImageRGBU8Msg;
+use super::cu_image::{ImageGrayU8Msg, ImageRGBU8Msg};
 
 pub struct Sobel;
 
 impl Freezable for Sobel {}
 
 impl<'cl> CuTask<'cl> for Sobel {
     type Input = input_msg!('cl, ImageRGBU8Msg);
-    type Output = output_msg!('cl, ImageRGBU8Msg);
+    type Output = output_msg!('cl, ImageGrayU8Msg);
 
-    fn new(config: Option<&ComponentConfig>) -> Result<Self, CuError>
+    fn new(_config: Option<&ComponentConfig>) -> Result<Self, CuError>
     where
         Self: Sized,
     {
@@ -36,7 +36,28 @@ impl<'cl> CuTask<'cl> for Sobel {
             return Ok(());
         };
 
-        let dst = imgproc::filters::sobel(src, kornia::core::types::BorderType::REPLICATE);
+        println!("src: {:?}", src.image.size());
+
+        let img = src
+            .image
+            .channel(0)
+            .map_err(|e| CuError::new_with_cause("Failed to get channel", e))?;
+
+        let img_f32 = img
+            .cast_and_scale(1.0f32 / 255.0f32)
+            .map_err(|e| CuError::new_with_cause("Failed to cast image", e))?;
+
+        let mut img_sobel = Image::from_size_val(img_f32.size(), 0.0f32)
+            .map_err(|e| CuError::new_with_cause("Failed to create image", e))?;
+
+        imgproc::filter::sobel(&img_f32, &mut img_sobel, 3)
+            .map_err(|e| CuError::new_with_cause("Failed to apply sobel", e))?;
+
+        let dst = img_sobel
+            .scale_and_cast::<u8>(255.0f32)
+            .map_err(|e| CuError::new_with_cause("Failed to cast image", e))?;
+
+        output.set_payload(ImageGrayU8Msg { image: dst });
 
         Ok(())
     }