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Components

CoCo provides some components for processing computer vision in 2D and 3D. These components have in common a data structure used for

Data

  • CameraBuffer
  • CameraBuffer::Size
  • CameraBuffer::Format
  • RGBDBuffer
  • CameraInfo: contains intrinsics of a 2D camera

Then for the AR part we have the following special:

  • MarkersData

Source Components

ImageSourceTask

This used OpenCV VideoCapture to produce a new RGB image

KinectReaderTask

Kinect2ReaderTask

StreamingReceiverTask

This component produces an image received over the network via ZeroMQ

CameraSharedMemoryTask

This is a special component that produces

Sink Components

StreamingServerTask

This component encodes the image (RGB or RGBD) and sends it to the network via ZeroMQ using (address,port).

GLImage (graphics)

This component renders the image in the associated OpenGL context

Filtering Components

MarkerTrackerTask

This is a ARUCO marker task that receives images and finds markers. Can take as input both formats. Requires the camera intrinsics to work.