robokudo.annotators.image_preprocessor
======================================

.. py:module:: robokudo.annotators.image_preprocessor

.. autoapi-nested-parse::

   Image preprocessing and point cloud generation.

   This module provides an annotator for:

   * Converting RGB-D camera data to point clouds
   * Handling color and depth image synchronization
   * Managing camera intrinsic parameters
   * Providing visualization modes for debugging

   .. note::
      Depth values are expected to be in millimeters.



Classes
-------

.. autoapisummary::

   robokudo.annotators.image_preprocessor.ImagePreprocessorAnnotator


Module Contents
---------------

.. py:class:: ImagePreprocessorAnnotator(name: str = 'ImagePreprocessor', descriptor: ImagePreprocessorAnnotator = Descriptor())

   Bases: :py:obj:`robokudo.annotators.core.BaseAnnotator`


   RGB-D image preprocessor and point cloud generator.

   This annotator:

   * Converts RGB-D camera data to point clouds
   * Handles color/depth image synchronization
   * Manages camera intrinsic parameters
   * Provides visualization modes for debugging

   .. warning::
      Requires properly configured camera intrinsics and color-to-depth ratio.


   .. py:class:: ViewMode

      Visualization mode enumeration.


      .. py:attribute:: color
         :type:  int
         :value: 1


         Display color image (1)



      .. py:attribute:: depth
         :type:  int
         :value: 2


         Display depth image (2)




   .. py:class:: Descriptor

      Bases: :py:obj:`robokudo.annotators.core.BaseAnnotator.Descriptor`


      Configuration descriptor for image preprocessing.


      .. py:class:: Parameters

         Parameters for configuring preprocessing.


         .. py:attribute:: depth_trunc
            :type:  float
            :value: 9.0


            Maximum depth distance in meters, points beyond are discarded from cloud creation




      .. py:attribute:: parameters



   .. py:attribute:: color
      :type:  typing_extensions.Optional[numpy.typing.NDArray]
      :value: None


      Optional color image currently being worked with



   .. py:attribute:: depth
      :type:  typing_extensions.Optional[numpy.typing.NDArray]
      :value: None


      Optional depth image currently being worked with



   .. py:attribute:: display_mode
      :type:  int
      :value: 1


      The display mode to use (color or depth)



   .. py:method:: update() -> py_trees.common.Status

      Process RGB-D images and generate point cloud.

      The method:

      * Loads color and depth images from CAS
      * Synchronizes and scales images
      * Converts to Open3D format
      * Generates point cloud
      * Updates visualization based on view mode

      :return: SUCCESS after processing
      :raises RuntimeError: If color-to-depth ratio is not set



   .. py:method:: key_callback(key: int) -> None

      Handle keyboard input for view mode switching.

      :param key: ASCII value of pressed key

      Available keys:

      * '1': Switch to color view mode
      * '2': Switch to depth view mode