robokudo.annotators.static_camera_transform
===========================================

.. py:module:: robokudo.annotators.static_camera_transform

.. autoapi-nested-parse::

   Annotator for writing a configured static camera transform into the CAS.
   Use this in scenarios where you do not have a world to camera transform published
   or when you develop the perception system in isolation.



Classes
-------

.. autoapisummary::

   robokudo.annotators.static_camera_transform.StaticCameraTransformAnnotator


Module Contents
---------------

.. py:class:: StaticCameraTransformAnnotator(name: str = 'StaticCameraTransform', descriptor: StaticCameraTransformAnnotator | None = None)

   Bases: :py:obj:`robokudo.annotators.core.BaseAnnotator`


   Write a fixed camera-to-world transform to the current CAS.


   .. py:class:: Descriptor

      Bases: :py:obj:`robokudo.annotators.core.BaseAnnotator.Descriptor`


      Configuration descriptor for annotator parameters and capabilities.

      This class defines the structure for specifying annotator parameters and
      capabilities. It provides access to global parameters through the Parameters
      class.


      .. py:class:: Parameters

         Container for annotator parameters.

         This class provides access to both annotator-specific and global parameters.
         Global parameters are accessed through the global_ prefix.


         .. py:attribute:: world_frame
            :type:  str
            :value: 'map'


            Reference frame used for the camera-to-world transform.



         .. py:attribute:: camera_frame
            :type:  str
            :value: 'camera'


            Camera frame used as the transform child frame.



         .. py:attribute:: world_T_camera
            :type:  semantic_digital_twin.spatial_types.HomogeneousTransformationMatrix

            Camera pose relative to the configured world frame.




      .. py:attribute:: parameters



   .. py:method:: update() -> py_trees.common.Status

      Update the annotator state.

      Called every time the behavior is ticked.

      :return: Status of the behavior after update