robokudo.descriptors.camera_configs.config_realsense

Classes

CameraConfig

Configuration class for Intel RealSense cameras.

Module Contents

class robokudo.descriptors.camera_configs.config_realsense.CameraConfig

Configuration class for Intel RealSense cameras.

This class defines the configuration parameters for RealSense cameras, particularly tested with the D435 model. It assumes the use of aligned depth data and requires the RealSense ROS driver to be running.

Variables:

  • interface_type – Type of camera interface, set to “Kinect” for compatibility

  • depthOffset – Offset value for depth measurements

  • filterBlurredImages – Flag to enable/disable filtering of blurred images

  • color2depth_ratio – Ratio between color and depth image resolution (x, y)

  • hi_res_mode – Enable high resolution mode (disabled for RealSense)

  • topic_depth – ROS topic for aligned depth image data

  • topic_color – ROS topic for color image data

  • topic_cam_info – ROS topic for camera information

  • depth_hints – Transport hints for depth image subscription

  • color_hints – Transport hints for color image subscription

  • tf_from – Frame ID of the camera’s color optical frame

  • tf_to – Target frame ID for transformations

  • lookup_viewpoint – Flag to enable viewpoint lookup (disabled by default)

  • only_stable_viewpoints – Flag to use only stable viewpoints

  • max_viewpoint_distance – Maximum allowed distance for viewpoint changes

  • max_viewpoint_rotation – Maximum allowed rotation for viewpoint changes

  • semantic_map – Filename of the semantic map configuration

Note

Requires the RealSense ROS driver to be running with aligned depth: roslaunch realsense2_camera rs_aligned_depth.launch

interface_type = 'Kinect'
depthOffset = 0
filterBlurredImages = True
color2depth_ratio = (1.0, 1.0)
hi_res_mode = False
topic_depth = '/camera/aligned_depth_to_color/image_raw/compressedDepth'
topic_color = '/camera/color/image_raw/compressed'
topic_cam_info = '/camera/color/camera_info'
depth_hints = 'compressedDepth'
color_hints = 'compressed'
tf_from = '/camera_color_optical_frame'
tf_to = '/map'
lookup_viewpoint = False
only_stable_viewpoints = True
max_viewpoint_distance = 0.01
max_viewpoint_rotation = 1.0
semantic_map = 'semantic_map_iai_kitchen.yaml'