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sensor-data-analyzer

The sensor-data-analyzer associates, analyzes, and enriches sensor data by leveraging semantic environment models.

The sensor data needs to be provided as a ROS2 bag and the semantic environment model as CityGML 3.0 dataset. In order to associate, analyze, and enrich the sensor data in a scalable manner, the 3D City Database is utilized and extended by a sensor data schema.

Getting Started

Build and start the extended-3dcitydb provided as a Docker container.

Set up a Rust development environment and install the Diesel CLI:

cargo install diesel_cli

Run the migration to set up the sensor data tables:

cd ./crates/sensor-data-analyzer-core
diesel migration run --database-url ${CITYDB_DATABASE_URL}

Usage

To upload the ROS2 bag to the database, run:

cargo run -r -- upload-rosbag \
    --rosbag-directory-path /path/to/rosbag \
    --ecoord-file-path /path/to/additional/ecoord \
    --maximum-number-connections 10 \
    --start-time-offset 20s --total-duration 4s

To associate the individual sensor observations with objects from the semantic model, run:

cargo run -r -- associate --distance-threshold 0.2

In order to download the associated sensor data, run:

cargo run -r -- download --directory-path /path/downloaded/point/clouds