robokudo.descriptors.camera_configs.config_tiago_wo_transform
=============================================================

.. py:module:: robokudo.descriptors.camera_configs.config_tiago_wo_transform


Classes
-------

.. autoapisummary::

   robokudo.descriptors.camera_configs.config_tiago_wo_transform.CameraConfig


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

.. py:class:: CameraConfig

   Configuration class for the TIAGo robot's Xtion camera without transform lookup.

   This class defines the configuration parameters for the Xtion RGB-D camera
   mounted on the TIAGo robot, similar to config_tiago.py but with viewpoint
   lookup disabled. It includes settings for camera interface and topic names.

   :ivar interface_type: Type of camera interface, set to "Kinect" for compatibility
   :type interface_type: str
   :ivar depthOffset: Offset value for depth measurements
   :type depthOffset: int
   :ivar filterBlurredImages: Flag to enable/disable filtering of blurred images
   :type filterBlurredImages: bool
   :ivar color2depth_ratio: Ratio between color and depth image resolution (x, y)
   :type color2depth_ratio: tuple[float, float]
   :ivar hi_res_mode: Enable high resolution mode (disabled for Xtion)
   :type hi_res_mode: bool
   :ivar topic_depth: ROS topic for depth image data
   :type topic_depth: str
   :ivar topic_color: ROS topic for color image data
   :type topic_color: str
   :ivar topic_cam_info: ROS topic for camera information
   :type topic_cam_info: str
   :ivar depth_hints: Transport hints for depth image subscription
   :type depth_hints: str
   :ivar color_hints: Transport hints for color image subscription
   :type color_hints: str
   :ivar tf_from: Frame ID of the Xtion's RGB optical frame
   :type tf_from: str
   :ivar tf_to: Target frame ID for transformations (odom frame)
   :type tf_to: str
   :ivar lookup_viewpoint: Flag to enable viewpoint lookup (disabled in this config)
   :type lookup_viewpoint: bool
   :ivar only_stable_viewpoints: Flag to use only stable viewpoints
   :type only_stable_viewpoints: bool
   :ivar max_viewpoint_distance: Maximum allowed distance for viewpoint changes
   :type max_viewpoint_distance: float
   :ivar max_viewpoint_rotation: Maximum allowed rotation for viewpoint changes
   :type max_viewpoint_rotation: float
   :ivar semantic_map: Filename of the semantic map configuration
   :type semantic_map: str

   .. note::
       This configuration is identical to config_tiago.py except that
       lookup_viewpoint is set to False by default.


   .. py:attribute:: interface_type
      :value: 'Kinect'



   .. py:attribute:: depthOffset
      :value: 0



   .. py:attribute:: filterBlurredImages
      :value: True



   .. py:attribute:: color2depth_ratio
      :value: (1, 1)



   .. py:attribute:: hi_res_mode
      :value: False



   .. py:attribute:: topic_depth
      :value: '/xtion/depth_registered/image_raw/compressedDepth'



   .. py:attribute:: topic_color
      :value: '/xtion/rgb/image_raw/compressed'



   .. py:attribute:: topic_cam_info
      :value: '/xtion/rgb/camera_info'



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



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



   .. py:attribute:: tf_from
      :value: '/xtion_rgb_optical_frame'



   .. py:attribute:: tf_to
      :value: '/odom'



   .. py:attribute:: lookup_viewpoint
      :value: False



   .. py:attribute:: only_stable_viewpoints
      :value: True



   .. py:attribute:: max_viewpoint_distance
      :value: 0.01



   .. py:attribute:: max_viewpoint_rotation
      :value: 1.0



   .. py:attribute:: semantic_map
      :value: 'semantic_map_iai_kitchen.yaml'