robokudo.descriptors.camera_configs.config_tiago

Classes

CameraConfig

Configuration class for the TIAGo robot's Xtion camera.

Module Contents

class robokudo.descriptors.camera_configs.config_tiago.CameraConfig

Configuration class for the TIAGo robot’s Xtion camera.

This class defines the configuration parameters for the Xtion RGB-D camera mounted on the TIAGo robot. It includes settings for camera interface, topic names, and transformation settings.

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 Xtion)

  • topic_depth – ROS topic for 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 Xtion’s RGB optical frame

  • tf_to – Target frame ID for transformations (odom frame)

  • lookup_viewpoint – Flag to enable viewpoint lookup

  • 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

The configuration uses the Kinect interface type for compatibility with the Xtion camera, as both cameras use similar RGB-D data formats.

interface_type = 'Kinect'
depthOffset = 0
filterBlurredImages = True
color2depth_ratio = (1, 1)
hi_res_mode = False
topic_depth = '/xtion/depth_registered/image_raw/compressedDepth'
topic_color = '/xtion/rgb/image_raw/compressed'
topic_cam_info = '/xtion/rgb/camera_info'
depth_hints = 'compressedDepth'
color_hints = 'compressed'
tf_from = '/xtion_rgb_optical_frame'
tf_to = '/odom'
lookup_viewpoint = True
only_stable_viewpoints = True
max_viewpoint_distance = 0.01
max_viewpoint_rotation = 1.0
semantic_map = 'semantic_map_iai_kitchen.yaml'