robokudo.descriptors.camera_configs.config_realsense

Classes

RealsenseCameraConfig

Configuration class for Intel RealSense cameras.

Module Contents

class robokudo.descriptors.camera_configs.config_realsense.RealsenseCameraConfig

Bases: robokudo.descriptors.camera_configs.base_camera_config.BaseCameraConfig, robokudo.descriptors.camera_configs.components.RGBDComponent, robokudo.descriptors.camera_configs.components.TfComponent, robokudo.descriptors.camera_configs.components.StableViewpointComponent, robokudo.descriptors.camera_configs.components.WorldDescriptorComponent

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.

Note

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

registry_name: typing_extensions.ClassVar[str] = 'realsense'

interface_type: str = 'Kinect'

topic_depth: str = '/camera/aligned_depth_to_color/image_raw/compressedDepth'

topic_color: str = '/camera/color/image_raw/compressed'

topic_cam_info: str = '/camera/color/camera_info'

tf_from: str = '/camera_color_optical_frame'

tf_to: str = '/map'

filterBlurredImages: bool = False

lookup_viewpoint: bool = False