robokudo.annotators.region_filter¶

Classes¶

RegionFilter

The RegionFilter can be used to filter point clouds based on a environment model based on different

Module Contents¶

class robokudo.annotators.region_filter.RegionFilter(name='RegionFilter', descriptor=Descriptor())¶

Bases: robokudo.annotators.core.ThreadedAnnotator

The RegionFilter can be used to filter point clouds based on a environment model based on different regions. These regions are collected in a ‘SemanticMap’ which has one ‘SemanticMapEntry’ per region of interest. Semantics to these regions are linked by referencing well-known names from your URDF and/or knowledge base.

class Descriptor¶

Bases: robokudo.annotators.core.BaseAnnotator.Descriptor

class Parameters¶

world_frame_name = 'map'¶

semantic_map_ros_package = 'robokudo'¶

semantic_map_name = 'semantic_map_iai_kitchen'¶

active_region = ''¶

parameters¶

world_frame_name¶

semantic_map = None¶

active_region¶

load_semantic_map() → None¶

compute()¶: This method is doing the heavy lifting of the annotator, if it takes to long to run.