Image registration

flowchart TD
  unit_677261797363616c65["grayscale<br/>Unit<br/>image.grayscale/v1"]:::unit
  unit_686f6d6f677261706879["homography<br/>Unit<br/>image.homography/v1"]:::unit
  unit_6d61746368["match<br/>Unit<br/>image.match/v1"]:::unit
  unit_6d657472696373["metrics<br/>Unit<br/>image.metrics/v1"]:::unit
  unit_6f7262["orb<br/>Unit<br/>image.orb/v1"]:::unit
  unit_77617270["warp<br/>Unit<br/>image.warp/v1"]:::unit
  resource_63616e6469646174655f6d617463686573(["candidate_matches<br/>Resource<br/>image.CandidateMatches/v1"]):::resource
  unit_6d61746368 -->|out| resource_63616e6469646174655f6d617463686573
  resource_63616e6469646174655f6d617463686573 -->|input| unit_686f6d6f677261706879
  resource_677261797363616c655f70616972(["grayscale_pair<br/>Resource<br/>image.GrayscalePair/v1"]):::resource
  unit_677261797363616c65 -->|out| resource_677261797363616c655f70616972
  resource_677261797363616c655f70616972 -->|input| unit_6f7262
  resource_677261797363616c655f70616972 -->|grayscale| unit_77617270
  resource_696d6167655f70616972[/"image_pair<br/>Module input<br/>image.ImagePair/v1"/]:::moduleInput
  resource_696d6167655f70616972 -->|pair| unit_677261797363616c65
  resource_696e6c6965725f6d617463686573(["inlier_matches<br/>Resource<br/>image.RegistrationGeometry/v1"]):::resource
  unit_686f6d6f677261706879 -->|out| resource_696e6c6965725f6d617463686573
  resource_696e6c6965725f6d617463686573 -->|geometry| unit_77617270
  resource_6f72625f6665617475726573(["orb_features<br/>Resource<br/>image.OrbFeatures/v1"]):::resource
  unit_6f7262 -->|out| resource_6f72625f6665617475726573
  resource_6f72625f6665617475726573 -->|input| unit_6d61746368
  resource_726567697374726174696f6e5f726573756c74{{"registration_result<br/>Module output<br/>image.RegistrationResult/v1"}}:::moduleOutput
  unit_6d657472696373 -->|out| resource_726567697374726174696f6e5f726573756c74
  resource_7761727065645f696d616765{{"warped_image<br/>Module output<br/>image.WarpedRegistration/v1"}}:::moduleOutput
  unit_77617270 -->|out| resource_7761727065645f696d616765
  resource_7761727065645f696d616765 -->|input| unit_6d657472696373
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  classDef resource fill:#f8fafc,stroke:#64748b,stroke-width:1px
  classDef moduleInput fill:#ecfdf5,stroke:#047857,stroke-width:2px
  classDef moduleOutput fill:#fff7ed,stroke:#c2410c,stroke-width:3px
  classDef moduleInputOutput fill:#fefce8,stroke:#a16207,stroke-width:3px

flowchart TD
  unit_677261797363616c65["grayscale<br/>Unit<br/>image.grayscale/v1<br/>avg 21.683 ms / p99 22.231 ms / n=8"]:::unit
  unit_686f6d6f677261706879["homography<br/>Unit<br/>image.homography/v1<br/>avg 5.695 ms / p99 6.026 ms / n=8"]:::unit
  unit_6d61746368["match<br/>Unit<br/>image.match/v1<br/>avg 519.534 ms / p99 524.532 ms / n=8"]:::unit
  unit_6d657472696373["metrics<br/>Unit<br/>image.metrics/v1<br/>avg 70.2 us / p99 113.3 us / n=8"]:::unit
  unit_6f7262["orb<br/>Unit<br/>image.orb/v1<br/>avg 499.336 ms / p99 558.287 ms / n=8"]:::unit
  unit_77617270["warp<br/>Unit<br/>image.warp/v1<br/>avg 24.587 ms / p99 29.942 ms / n=8"]:::unit
  resource_63616e6469646174655f6d617463686573(["candidate_matches<br/>Resource<br/>image.CandidateMatches/v1"]):::resource
  unit_6d61746368 -->|out| resource_63616e6469646174655f6d617463686573
  resource_63616e6469646174655f6d617463686573 -->|input| unit_686f6d6f677261706879
  resource_677261797363616c655f70616972(["grayscale_pair<br/>Resource<br/>image.GrayscalePair/v1"]):::resource
  unit_677261797363616c65 -->|out| resource_677261797363616c655f70616972
  resource_677261797363616c655f70616972 -->|input| unit_6f7262
  resource_677261797363616c655f70616972 -->|grayscale| unit_77617270
  resource_696d6167655f70616972[/"image_pair<br/>Module input<br/>image.ImagePair/v1"/]:::moduleInput
  resource_696d6167655f70616972 -->|pair| unit_677261797363616c65
  resource_696e6c6965725f6d617463686573(["inlier_matches<br/>Resource<br/>image.RegistrationGeometry/v1"]):::resource
  unit_686f6d6f677261706879 -->|out| resource_696e6c6965725f6d617463686573
  resource_696e6c6965725f6d617463686573 -->|geometry| unit_77617270
  resource_6f72625f6665617475726573(["orb_features<br/>Resource<br/>image.OrbFeatures/v1"]):::resource
  unit_6f7262 -->|out| resource_6f72625f6665617475726573
  resource_6f72625f6665617475726573 -->|input| unit_6d61746368
  resource_726567697374726174696f6e5f726573756c74{{"registration_result<br/>Module output<br/>image.RegistrationResult/v1"}}:::moduleOutput
  unit_6d657472696373 -->|out| resource_726567697374726174696f6e5f726573756c74
  resource_7761727065645f696d616765{{"warped_image<br/>Module output<br/>image.WarpedRegistration/v1"}}:::moduleOutput
  unit_77617270 -->|out| resource_7761727065645f696d616765
  resource_7761727065645f696d616765 -->|input| unit_6d657472696373
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