robokudo.annotators.static_camera_transform¶

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¶

StaticCameraTransformAnnotator

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

Module Contents¶

class robokudo.annotators.static_camera_transform.StaticCameraTransformAnnotator(name: str = 'StaticCameraTransform', descriptor: StaticCameraTransformAnnotator | None = None)¶

Bases: robokudo.annotators.core.BaseAnnotator

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

class Descriptor¶

Bases: 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.

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.

world_frame: str = 'map'¶: Reference frame used for the camera-to-world transform.

camera_frame: str = 'camera'¶: Camera frame used as the transform child frame.

world_T_camera: semantic_digital_twin.spatial_types.HomogeneousTransformationMatrix¶: Camera pose relative to the configured world frame.

parameters¶

update() → py_trees.common.Status¶

Update the annotator state.

Called every time the behavior is ticked.

Returns:: Status of the behavior after update