robokudo.annotators.image_preprocessor

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

ImagePreprocessorAnnotator

RGB-D image preprocessor and point cloud generator.

Module Contents

class robokudo.annotators.image_preprocessor.ImagePreprocessorAnnotator(name='ImagePreprocessor', descriptor=Descriptor())

Bases: 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.

class ViewMode

Visualization mode enumeration.

Variables:

  • color – Display color image (1)

  • depth – Display depth image (2)

color = 1
depth = 2
class Descriptor

Bases: robokudo.annotators.core.BaseAnnotator.Descriptor

Configuration descriptor for image preprocessing.

class Parameters

Parameters for configuring preprocessing.

Variables:

depth_trunc – Maximum depth distance in meters, points beyond are discarded

depth_trunc = 9.0
parameters
color = None
depth = None
display_mode = 1
update()

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

Returns:

SUCCESS after processing

Return type:

py_trees.Status

Raises:

RuntimeError – If color-to-depth ratio is not set

key_callback(key)

Handle keyboard input for view mode switching.

Parameters:

key (int) – ASCII value of pressed key

Available keys:

  • ‘1’: Switch to color view mode

  • ‘2’: Switch to depth view mode