add sobel to ron file

kornia · Dec 30, 2024 · 5b17574 · 5b17574
1 parent 2a079e7
commit 5b17574
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Showing 2 changed files with 14 additions and 8 deletions.
diff --git a/examples/copper_pipeline/kornia_app.ron b/examples/copper_pipeline/kornia_app.ron
@@ -21,14 +21,16 @@
             id: "rerun",
             type: "copper::tasks::rerun_viz::RerunViz",
         ),
-        //(
-        //    id: "sobel",
-        //    type: "copper::tasks::sobel::Sobel",
-        //),
+        (
+            id: "sobel",
+            type: "copper::tasks::sobel::Sobel",
+        ),
     ],
     cnx: [
         (src: "cam_garden", dst: "rerun", msg: "copper::tasks::ImageRGBU8Msg"),
         (src: "cam", dst: "rerun", msg: "copper::tasks::ImageRGBU8Msg"),
+        (src: "sobel", dst: "rerun", msg: "copper::tasks::ImageGrayU8Msg"),
+        (src: "cam", dst: "sobel", msg: "copper::tasks::ImageRGBU8Msg"),
     ],
     logging: (
         slab_size_mib: 1024, // Preallocates 1GiB of memory map file at a time

diff --git a/examples/copper_pipeline/src/tasks/rerun_viz.rs b/examples/copper_pipeline/src/tasks/rerun_viz.rs
@@ -9,7 +9,7 @@ pub struct RerunViz {
 impl Freezable for RerunViz {}
 
 impl<'cl> CuSinkTask<'cl> for RerunViz {
-    type Input = input_msg!('cl, ImageRGBU8Msg, ImageRGBU8Msg);
+    type Input = input_msg!('cl, ImageRGBU8Msg, ImageRGBU8Msg, ImageGrayU8Msg);
 
     fn new(_config: Option<&ComponentConfig>) -> Result<Self, CuError>
     where
@@ -23,14 +23,18 @@ impl<'cl> CuSinkTask<'cl> for RerunViz {
     }
 
     fn process(&mut self, _clock: &RobotClock, input: Self::Input) -> Result<(), CuError> {
-        let (img2, img1) = input;
+        let (img1, img2, img3) = input;
 
         if let Some(img) = img1.payload() {
-            log_image_rgb(&self.rec, "webcam", &img)?;
+            log_image_rgb(&self.rec, "webcam", img)?;
         }
 
         if let Some(img) = img2.payload() {
-            log_image_rgb(&self.rec, "garden", &img)?;
+            log_image_gray(&self.rec, "sobel", img)?;
+        }
+
+        if let Some(img) = img3.payload() {
+            log_image_rgb(&self.rec, "rtsp", img)?;
         }
 
         Ok(())