feat(pipeline): add sequential processor

[ktro2828]

PR Type

• New Feature

Related Links

Description

This pull request introduces a new Sequential processor to the accelerated image processor pipeline, enabling the composition and sequential execution of multiple image processors. It also updates the build system and documentation to support and explain this new feature, and adds relevant tests and examples. Additionally, there are some improvements to camera info handling and dependency management.

Major new functionality:

• Added the Sequential processor, which allows chaining multiple processors and executing them in order. Includes support for registering post-processing callbacks and propagating camera info through the pipeline. [1] [2]
• Added an example usage of the Sequential processor in examples/example_sequential.cpp and updated the documentation with usage instructions. [1] [2]

Build system and dependency updates:

• Updated CMakeLists.txt to build and test the new Sequential processor, add the example, and link against the new compression dependency. [1] [2] [3]
• Added the compression package as a dependency in package.xml.

Camera info handling improvements:

• Refactored camera info handling in BaseProcessor and Rectifier to allow for better integration with the new sequential pipeline. [1] [2] [3]

Testing improvements:

• Added unit tests for the Sequential processor, including cases for appending processors with and without callback functions.
• Refactored dummy test utilities for postprocess function registration. [1] [2]

Other updates:

• Included the sequential.hpp header in the ROS parameter header for broader integration.

The example usage of Sequential is as follows (see examples/example_sequential.cpp for details):

pipeline::Sequential sequential;

// Pipeline: Rectification -> [Info] -> JPEG Compression -> [Info] -> [Finish]
sequential.append<pipeline::Rectifier>("rectifier", &print_info)
  .append<compression::Compressor>("compressor", &print_info, "jpeg")
  .register_postprocess(&print_finish);

// Set camera info for rectification
sequential.set_camera_info(camera_info);

sequential.process(image);

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