robokudo.descriptors.camera_configs.components
==============================================

.. py:module:: robokudo.descriptors.camera_configs.components


Classes
-------

.. autoapisummary::

   robokudo.descriptors.camera_configs.components.DepthComponent
   robokudo.descriptors.camera_configs.components.ColorComponent
   robokudo.descriptors.camera_configs.components.TfComponent
   robokudo.descriptors.camera_configs.components.StableViewpointComponent
   robokudo.descriptors.camera_configs.components.WorldDescriptorComponent
   robokudo.descriptors.camera_configs.components.RGBDComponent


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

.. py:class:: DepthComponent

   Camera component with configuration for depth input data.


   .. py:attribute:: topic_depth
      :type:  str

      ROS depth topic name. Must be set by camera configs using this component.



   .. py:attribute:: depthOffset
      :type:  int
      :value: 0


      Depth offset.



   .. py:attribute:: depth_hints
      :type:  str
      :value: 'compressedDepth'


      Datatype hint for the depth topic. For example: 'compressedDepth' or 'raw'.



.. py:class:: ColorComponent

   Camera component with configuration for color input data.


   .. py:attribute:: topic_cam_info
      :type:  str

      ROS camera info topic name. Must be set by camera configs using this component.



   .. py:attribute:: topic_color
      :type:  str

      ROS color topic name. Must be set by camera configs using this component.



   .. py:attribute:: filterBlurredImages
      :type:  bool
      :value: True


      Flag to enable/disable filtering of blurred images



   .. py:attribute:: color_hints
      :type:  str
      :value: 'compressed'


      Datatype hint for the color topic. For example: 'compressed' or 'raw'.



.. py:class:: TfComponent

   Camera component with configuration for transform handling.


   .. py:attribute:: tf_from
      :type:  str

      Frame ID of the camera's optical frame. Must be set by camera configs using this component.



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


      World frame ID to transform the camera's optical frame to.



   .. py:attribute:: lookup_viewpoint
      :type:  bool
      :value: True


      Whether to lookup the viewpoint between the camera and the world.



.. py:class:: StableViewpointComponent

   Camera component with configuration for viewpoint stabilization.


   .. py:attribute:: only_stable_viewpoints
      :type:  bool
      :value: True


      Flag to use only stable viewpoints



   .. py:attribute:: max_viewpoint_distance
      :type:  float
      :value: 0.01


      Maximum allowed distance for viewpoint changes



   .. py:attribute:: max_viewpoint_rotation
      :type:  float
      :value: 1.0


      Maximum allowed rotation for viewpoint changes



.. py:class:: WorldDescriptorComponent

   Camera component with configuration for world descriptors.


   .. py:attribute:: world_descriptor
      :type:  str
      :value: 'world_iai_kitchen20'


      Filename of the world descriptor configuration



.. py:class:: RGBDComponent

   Bases: :py:obj:`DepthComponent`, :py:obj:`ColorComponent`


   Camera component with configuration for RGB-D input data.


   .. py:attribute:: color2depth_ratio
      :type:  typing_extensions.Tuple[float, float]
      :value: (1.0, 1.0)


      If the resolution of the depth image differs from the color image,
      we need to define the factor for (x, y).
      Example: (0.5,0.5) for a 640x480 depth image compared to a
      1280x960 rgb image Otherwise, just put (1,1) here



   .. py:attribute:: hi_res_mode
      :type:  bool
      :value: False


      Setting this to true will apply some workarounds to match the depth data to RGB on the Kinect.