robokudo.io.ros_camera_without_depth_interface¶
Classes¶
Module Contents¶
- class robokudo.io.ros_camera_without_depth_interface.ROSCameraWithoutDepthInterface(camera_config)¶
-
Bases:
robokudo.io.camera_interface.ROSCameraInterface- color_subscriber¶
- cam_info_subscriber¶
- color = None¶
- cam_info = None¶
- cam_intrinsic = None¶
- color2depth_ratio = None¶
- cam_translation = None¶
- cam_quaternion = None¶
- timestamp = None¶
- lock¶
- bridge¶
- rotate_camera_intrinsics(K, image_size, rotation='90_ccw')¶
-
Adjusts camera intrinsics for a 90 degree rotation.
Parameters: - K: (3x3 ndarray) original camera intrinsic matrix - image_size: (width, height) tuple of original image size - rotation: ‘90_ccw’, ‘90_cw’, ‘180’ (default is 90° counter-clockwise)
Returns: - K_new: (3x3 ndarray) adjusted camera intrinsic matrix - new_image_size: (width, height) after rotation
- rotate_image_and_intrinsics(img, K, rotation='90_ccw')¶
- callback(color_data, cam_info=None)¶
-
TODO make this generic. handle the encoding and order properly. For standard and compressed images. this might also depend on the fix of image_transport_plugins being published as a package. Startpoint can be found at the bottom of this method.
- set_data(cas: robokudo.cas.CAS)¶