closest-blob.xml

<?xml version="1.0" encoding="ISO-8859-1"?>
<?xml-stylesheet type="text/xsl" href="yarpmanifest.xsl"?>

<module>
  <name>closest-blob</name>
  <doxygen-group></doxygen-group>
  <description> Extracts brightest blob in a sequence of disparity images</description>
  <copypolicy>Released under the terms of the GNU GPL v2.0</copypolicy>
  <version>1.0</version>

  <description-long>
    This module takes as input a grayscale image and outputs the brightest blob both as a
    binary image and as an extracted rectangular crop around it, plus the blob centroid's coordinates and approximated area.

</description-long>

  <arguments>
    <param default="closest-blob" desc="select the current context.">context</param>
    <param default="config.ini" desc="configuration file name.">from</param>
  </arguments>

  <authors>
    <author email="vadim.tikhanoff@iit.it"> Vadim Tikhanoff </author>
    <author email="tanis.mar@iit.it"> Tanis Mar</author>
  </authors>

  <data>
    <input>
      <type>yarp::sig::Image</type>
      <port carrier="udp">/closest-blob/disparity:i</port>
      <description>
        Gets the disparity input stream from the datasetplayer.
      </description>
    </input>
    <input>
      <type>yarp::sig::Image</type>
      <port carrier="udp">/closest-blob/image:i</port>
      <description>
        Gets the camera input stream from the datasetplayer.
      </description>
    </input>
    <output>
      <type>yarp::sig::Image</type>
      <port carrier="udp">/closest-blob/image:o</port>
      <description>
        Streams out the image of selected blob.
      </description>
    </output>
    <output>
      <type>yarp::sig::Image</type>
      <port carrier="udp">/closest-blob/crop:o</port>
      <description>
        Streams out the cropped image of selected blob.
      </description>
    </output>
    <output>
      <type>yarp::sig::Bottle</type>
      <port carrier="udp">/closest-blob/target:o</port>
      <description>
        Coordinates of the TL and BR points of the ROI around the selected blob
      </description>
    </output>
  </data>

  <services>
    <server>
      <type>closestBlob_IDL</type>
      <idl>closest-blob.thrift</idl>
      <port>/closest-blob/rpc</port>
      <description>service port</description>
    </server>
  </services>

</module>