robokudo.descriptors.analysis_engines.tiago_storage_with_transform

Analysis engine for recording TIAGo sensor data with transforms.

This module provides an analysis engine that demonstrates how to record sensor data from a TIAGo robot’s camera system while preserving transformation data. It implements a pipeline that captures, preprocesses, and stores camera data along with associated coordinate transforms.

The pipeline implements the following functionality:

  • Reading data from TIAGo’s camera

  • Image preprocessing

  • Data storage with transform information

Note

This engine uses the TIAGo camera configuration with transform lookup enabled, ensuring that coordinate transformations are properly recorded along with the sensor data.

Classes

AnalysisEngine

Analysis engine for TIAGo sensor data recording with transforms.

Module Contents

class robokudo.descriptors.analysis_engines.tiago_storage_with_transform.AnalysisEngine

Bases: robokudo.analysis_engine.AnalysisEngineInterface

Analysis engine for TIAGo sensor data recording with transforms.

This class implements a pipeline that records sensor data from a TIAGo robot’s camera system while preserving coordinate transformation data. It ensures that spatial relationships between different coordinate frames are properly stored.

The pipeline includes:

  • Collection reader for TIAGo camera data

  • Image preprocessing

  • Storage writer with transform preservation

Note

The pipeline is configured to use the TIAGo camera configuration with transform lookup enabled, which is essential for maintaining spatial relationships in the stored data.

name()

Get the name of the analysis engine.

Returns:

The name identifier of this analysis engine

Return type:

str

implementation()

Create a pipeline for recording TIAGo data with transforms.

This method constructs a processing pipeline that captures and stores sensor data from a TIAGo robot’s camera system. The pipeline ensures that coordinate transformation data is preserved during storage.

Pipeline execution sequence:

  1. Initialize pipeline

  2. Read TIAGo camera data (with transforms)

  3. Preprocess image

  4. Store data and transforms

Returns:

The configured pipeline for data recording

Return type:

robokudo.pipeline.Pipeline