robokudo.io.file_reader_interface¶

File-based data reading interface for RoboKudo.

This module provides interfaces for reading sensor data from the local filesystem. It supports reading:

RGB-D camera data (color and depth images)
Camera calibration information
Timestamped data sequences

The module is primarily used for:

Unit testing with recorded data
Simple demos and examples
Development and debugging

Classes¶

`FileReaderInterface`	A camera interface for reading stored data from the local filesystem.
`RGBDFileReaderInterface`	Specialized file reader interface for RGB-D camera data.

Module Contents¶

class robokudo.io.file_reader_interface.FileReaderInterface(camera_config)¶

Bases: robokudo.io.camera_interface.CameraInterface

A camera interface for reading stored data from the local filesystem.

This interface reads sensor data from files in a specified directory. Files must follow the naming convention: * rk_TIMESTAMP_color_image.jpg - Color image data * rk_TIMESTAMP_depth_image.png - Depth image data * rk_TIMESTAMP_cam_info.json - Camera calibration data

The ‘rk_’ prefix is configurable. Data types in filenames must match CASViews definitions.

Note

This interface is primarily for testing and demos. For production, use StorageReaderInterface instead.

Variables:

initialized – Whether the interface was successfully initialized
target_dir – Target directory path as string
target_dir_path – Target directory as Path object
filename_prefix – Prefix for data files, defaults to “rk_”
loaded_paths – Dictionary mapping timestamps to file paths
loaded_data – Dictionary mapping timestamps to loaded data
data_reader – Iterator for accessing loaded data

class DictIteratorReader(data=dict(), data_sequence=[])¶

Helper class for iterating over dictionary data in sequence.

This class provides cursor-based iteration over dictionary data, maintaining the sequence order and supporting reset operations.

Variables:

index – Current position in the sequence
data – Dictionary containing the data
data_sequence – List defining iteration order

index = None¶

data¶

data_sequence = []¶

reset_cursor()¶

Reset the iterator to the beginning of the sequence.

Sets index to 0 if there is data, None otherwise.

cursor_has_data()¶

Check if there is more data to read.

Returns:: True if more data is available, False otherwise
Return type:: bool

get_next_data() → dict | None¶

Get the next data item in the sequence.

Returns:: Next data item if available, None otherwise
Return type:: dict or None

initialized = False¶

loaded_paths¶

loaded_data¶

data_reader¶

has_new_data()¶

Check if new data is available to read.

Handles looping behavior based on camera configuration and maintains cursor position in the data sequence.

Returns:: True if new data is available, False otherwise
Return type:: bool

class robokudo.io.file_reader_interface.RGBDFileReaderInterface(camera_config)¶

Bases: FileReaderInterface

Specialized file reader interface for RGB-D camera data.

This class extends FileReaderInterface to handle the specific case of reading RGB-D camera data, including color images, depth images, and camera calibration information.

Inherits all instance variables from FileReaderInterface.

set_data(cas: robokudo.cas.CAS)¶

Set the next RGB-D data frame into the CAS.

This method: * Reads the next color and depth images * Applies any necessary fixes (e.g., Kinect height fix) * Sets camera calibration and transformation data * Updates the CAS with all loaded data

Parameters:: cas (robokudo.cas.CAS) – Common Analysis Structure to update