robokudo.io.camera_interface
============================

.. py:module:: robokudo.io.camera_interface


Classes
-------

.. autoapisummary::

   robokudo.io.camera_interface.CameraInterface
   robokudo.io.camera_interface.ROSCameraInterface
   robokudo.io.camera_interface.KinectCameraInterface


Functions
---------

.. autoapisummary::

   robokudo.io.camera_interface.depth_convert_workaround


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

.. py:class:: CameraInterface(camera_config)

   Bases: :py:obj:`object`


   .. py:attribute:: _has_new_data
      :value: False



   .. py:attribute:: camera_config


   .. py:attribute:: rk_logger
      :value: None



   .. py:method:: has_new_data()


   .. py:method:: set_data(cas: robokudo.cas.CAS)
      :abstractmethod:


      This method is supposed to read in, convert (if needed) and put the data into the CAS.
      If you are running a CameraInterface which is getting data via callback methods, please make sure
      to keep callbacks light and do the main conversion work here!
      Callbacks should be short.

      :param cas: The CAS where the data should be placed in



.. py:class:: ROSCameraInterface(camera_config)

   Bases: :py:obj:`CameraInterface`


   .. py:method:: lookup_transform()


   .. py:method:: set_o3d_cam_intrinsics_from_ros_cam_info()


.. py:function:: depth_convert_workaround(msg)

.. py:class:: KinectCameraInterface(camera_config)

   Bases: :py:obj:`ROSCameraInterface`


   .. py:attribute:: cam_info_subscriber


   .. py:attribute:: color
      :value: None



   .. py:attribute:: depth
      :value: None



   .. py:attribute:: cam_info
      :value: None



   .. py:attribute:: cam_intrinsic
      :value: None



   .. py:attribute:: color2depth_ratio
      :value: None



   .. py:attribute:: cam_translation
      :value: None



   .. py:attribute:: cam_quaternion
      :value: None



   .. py:attribute:: timestamp
      :value: None



   .. py:attribute:: lock


   .. py:method:: compressed_depth_configured()


   .. py:method:: compressed_color_configured()


   .. py:method:: callback(color_data, depth_data=None, cam_info=None)

      TODO make this generic. handle the encoding and order properly.
      For standard and compressed images.
      this might also depend on the fix of image_transport_plugins being published as a package.
      Startpoint can be found at the bottom of this method.



   .. py:method:: set_data(cas: robokudo.cas.CAS)

      This method is supposed to read in, convert (if needed) and put the data into the CAS.
      If you are running a CameraInterface which is getting data via callback methods, please make sure
      to keep callbacks light and do the main conversion work here!
      Callbacks should be short.

      :param cas: The CAS where the data should be placed in