robokudo.descriptors.analysis_engines.filereader

Analysis engine for processing stored RGB-D data from files.

This module provides an analysis engine that demonstrates how to read and process RGB-D data stored in the local filesystem. It implements a pipeline for reading Kinect 360 data and performing basic object detection and segmentation.

The pipeline implements the following functionality: - Reading RGB-D data from files - Image preprocessing - Point cloud cropping with restricted field of view - Plane detection - Point cloud cluster extraction

Note

This engine requires the robokudo_test_data repository to be cloned into your workspace. The repository contains example data from a Kinect 360 camera in high-resolution mode.

Warning

Clone https://gitlab.informatik.uni-bremen.de/robokudo/robokudo_test_data before running this pipeline.

Classes

AnalysisEngine

Analysis engine for processing stored RGB-D data.

Module Contents

class robokudo.descriptors.analysis_engines.filereader.AnalysisEngine

Bases: robokudo.analysis_engine.AnalysisEngineInterface

Analysis engine for processing stored RGB-D data.

This class implements a pipeline that reads RGB-D data from files and performs object detection and segmentation. It is designed to work with high-resolution Kinect 360 data stored in the robokudo_test_data repository.

The pipeline includes: - Collection reader for file-based RGB-D data - Image preprocessing - Point cloud cropping (restricted FOV) - Plane detection - Point cloud cluster extraction

Note

The pipeline is configured to loop through the input data continuously and applies specific fixes for Kinect height data.

name() → str

Get the name of the analysis engine.

Returns:

The name identifier of this analysis engine

implementation() → robokudo.pipeline.Pipeline

Create a pipeline for processing stored RGB-D data.

This method constructs a processing pipeline that reads RGB-D data from files and performs object detection and segmentation. The pipeline is configured to read data from the robokudo_test_data repository.

Configuration details: - Data source: robokudo_test_data/data directory - Kinect height fix mode enabled - Color to depth ratio: 0.5, 0.5 (for high-res mode) - Restricted FOV: -0.3m to 0.3m in X axis

Returns:

The configured pipeline for RGB-D data processing

Warning

Make sure the robokudo_test_data repository is cloned and available in your ROS workspace before running this pipeline.