robokudo.descriptors.analysis_engines.regionfilter_from_storage¶

Analysis engine for region-based filtering using semantic maps.

This module provides an analysis engine that demonstrates how to filter point cloud data based on predefined regions from semantic maps. It processes stored camera data and applies region-based filtering to focus on specific areas of interest.

The pipeline implements the following functionality:

Reading stored camera data from MongoDB
Image preprocessing
Region-based filtering using semantic map data
Optional pipeline trigger for step-by-step execution
Optional camera viewpoint visualization

Note

This engine requires properly configured semantic maps with defined regions of interest. The regions are used to filter the point cloud data during processing.

Classes¶

AnalysisEngine

Analysis engine for region-based point cloud filtering.

Module Contents¶

class robokudo.descriptors.analysis_engines.regionfilter_from_storage.AnalysisEngine¶

Bases: robokudo.analysis_engine.AnalysisEngineInterface

Analysis engine for region-based point cloud filtering.

This class implements a pipeline that filters point cloud data based on predefined regions from semantic maps. It processes stored camera data and applies region filtering to focus on specific areas of interest.

The pipeline includes:

Collection reader for stored data access
Image preprocessing
Region-based filtering
Optional pipeline trigger
Optional viewpoint visualization

Note

The pipeline can be configured to run continuously or with step-by-step execution using the pipeline trigger. Viewpoint visualization can be enabled for debugging purposes.

name()¶

Get the name of the analysis engine.

Returns:: The name identifier of this analysis engine
Return type:: str

implementation()¶

Create a pipeline for region-based point cloud filtering.

This method constructs a processing pipeline that applies region-based filtering to point cloud data. The regions are defined in semantic maps and used to filter the data during processing.

Pipeline execution sequence:

Initialize pipeline
Read stored camera data
Preprocess image
Apply region filter
Optional: Visualize camera viewpoint

Returns:: The configured pipeline for region-based filtering
Return type:: robokudo.pipeline.Pipeline

Note

The pipeline includes commented-out options for adding a trigger and camera viewpoint visualization, which can be useful for debugging and development.