clearpath_config.sensors.types.cameras module

class clearpath_config.sensors.types.cameras.BaseCamera(idx: int | None = None, name: str | None = None, topic: str = 'image', fps: int = 30, serial: str = '0', urdf_enabled: bool = True, launch_enabled: bool = True, ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseSensor

FPS = 30

class ROS_PARAMETER_KEYS

Bases: object

FPS = 'node_name.fps'

SERIAL = 'node_name.serial'

SENSOR_MODEL = 'base'

SENSOR_TYPE = 'camera'

SERIAL = '0'

TOPIC = 'image'

class TOPICS

Bases: object

COLOR_CAMERA_INFO = 'color_camera_info'

COLOR_IMAGE = 'color_image'

NAME = {'color_camera_info': 'color/camera_info', 'color_image': 'color/image'}

RATE = {'color_camera_info': 30, 'color_image': 30}

static assert_valid_fps(fps: int) → None

property fps: int

from_dict(d: dict) → None

get_fps() → int

get_serial() → str

property republishers: list

property serial: str

set_fps(fps: int) → None

set_serial(serial: str) → None

to_dict() → dict

class clearpath_config.sensors.types.cameras.FlirBlackfly(idx: int | None = None, name: str | None = None, topic: str = 'image', fps: float = 30, serial: str = '0', connection_type: str = 'USB3', encoding: str = 'BayerRG8', urdf_enabled: bool = True, launch_enabled: bool = True, ros_parameters: str = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseCamera

BAYER_BG12 = 'BayerBG12p'

BAYER_BG12_PACKED = 'BayerBG12Packed'

BAYER_BG16 = 'BayerBG16'

BAYER_BG8 = 'BayerBG8'

BAYER_GB12 = 'BayerGB12p'

BAYER_GB12_PACKED = 'BayerGB12Packed'

BAYER_GB16 = 'BayerGB16'

BAYER_GB8 = 'BayerGB8'

BAYER_GR12 = 'BayerGR12p'

BAYER_GR12_PACKED = 'BayerGR12Packed'

BAYER_GR16 = 'BayerGR16'

BAYER_GR8 = 'BayerGR8'

BAYER_RG12 = 'BayerRG12p'

BAYER_RG12_PACKED = 'BayerRG12Packed'

BAYER_RG16 = 'BayerRG16'

BAYER_RG8 = 'BayerRG8'

BGRA_8 = 'BGRa8'

BGR_8 = 'BGR8'

CONNECTION_TYPE = 'USB3'

CONNECTION_TYPES = ['USB3', 'GigE']

ENCODINGS = ['Mono8', 'Mono16', 'Mono12p', 'Mono12Packed', 'YUV411Packed', 'YUV422Packed', 'YUV444Packed', 'YCbCr8', 'YCbCr422_8', 'YCbCr411_8', 'BGR8', 'BGRa8', 'RGB8Packed', 'BayerGR8', 'BayerRG8', 'BayerGB8', 'BayerBG8', 'BayerGR16', 'BayerRG16', 'BayerGB16', 'BayerBG16', 'BayerGR12p', 'BayerRG12p', 'BayerGB12p', 'BayerBG12p', 'BayerGR12Packed', 'BayerRG12Packed', 'BayerGB12Packed', 'BayerBG12Packed']

GIGE_CONNECTION = 'GigE'

MONO_12 = 'Mono12p'

MONO_12_PACKED = 'Mono12Packed'

MONO_16 = 'Mono16'

MONO_8 = 'Mono8'

RGB_8_PACKED = 'RGB8Packed'

class ROS_PARAMETER_KEYS

Bases: object

ENCODING = 'flir_blackfly.pixel_format'

FPS = 'flir_blackfly.frame_rate'

SERIAL = 'flir_blackfly.serial_number'

SENSOR_MODEL = 'flir_blackfly'

class TOPICS

Bases: object

COLOR_CAMERA_INFO = 'color_camera_info'

COLOR_IMAGE = 'color_image'

NAME = {'color_camera_info': 'color/camera_info', 'color_image': 'color/image'}

RATE = {'color_camera_info': 30, 'color_image': 30}

USB3_CONNECTION = 'USB3'

YCBCR_411_8 = 'YCbCr411_8'

YCBCR_422_8 = 'YCbCr422_8'

YCBCR_8 = 'YCbCr8'

YUV_411_PACKED = 'YUV411Packed'

YUV_422_PACKED = 'YUV422Packed'

YUV_444_PACKED = 'YUV444Packed'

property connection_type: str

property encoding: str

get_connection_type() → str

get_encoding() → str

set_connection_type(connection_type: str) → None

set_encoding(encoding: str) → None

class clearpath_config.sensors.types.cameras.IntelRealsense(idx: int | None = None, name: str | None = None, topic: str = 'image', serial: str = '0', device_type: str = 'd435', color_enabled: bool = True, color_fps: bool = 30, color_width: int = 640, color_height: int = 480, depth_enabled: bool = True, depth_fps: int = 30, depth_width: int = 640, depth_height: int = 480, pointcloud_enabled: bool = True, urdf_enabled: bool = True, launch_enabled: bool = True, ros_parameters: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseCamera

COLOR_ENABLED = True

COLOR_FPS = 30

COLOR_HEIGHT = 480

COLOR_WIDTH = 640

D415 = 'd415'

D435 = 'd435'

D435i = 'd435i'

DEPTH_ENABLED = True

DEPTH_FPS = 30

DEPTH_HEIGHT = 480

DEPTH_WIDTH = 640

DEVICE_TYPE = 'd435'

DEVICE_TYPES = ['d415', 'd435', 'd435i']

POINTCLOUD_ENABLED = True

class ROS_PARAMETER_KEYS

Bases: object

CAMERA_NAME = 'intel_realsense.camera_name'

COLOR_ENABLE = 'intel_realsense.enable_color'

DEPTH_ENABLE = 'intel_realsense.enable_depth'

DEPTH_PROFILE = 'intel_realsense.depth_module.depth_profile'

DEVICE_TYPE = 'intel_realsense.device_type'

FPS = 'intel_realsense.rgb_camera.color_profile'

POINTCLOUD_ENABLE = 'intel_realsense.pointcloud.enable'

SERIAL = 'intel_realsense.serial_no'

SENSOR_MODEL = 'intel_realsense'

class TOPICS

Bases: object

COLOR_CAMERA_INFO = 'color_camera_info'

COLOR_IMAGE = 'color_image'

DEPTH_CAMERA_INFO = 'depth_camera_info'

DEPTH_IMAGE = 'depth_image'

IMU = 'imu'

NAME = {'color_camera_info': 'color/camera_info', 'color_image': 'color/image', 'depth_camera_info': 'depth/camera_info', 'depth_image': 'depth/image', 'imu': 'imu', 'points': 'points'}

POINTCLOUD = 'points'

RATE = {'color_camera_info': 30, 'color_image': 30, 'depth_camera_info': 30, 'depth_image': 30, 'imu': 30, 'points': 30}

assert_pixel_length(length: int) → None

property camera_name: str

static clean_profile(profile: str | list) → list

property color_enabled: bool

property color_height: int

property color_profile: str

property color_width: int

property depth_enabled: bool

property depth_fps: int

property depth_height: int

property depth_profile: str

property depth_width: int

property device_type: str

disable_color() → None

disable_depth() → None

disable_pointcloud() → None

enable_color() → None

enable_depth() → None

enable_pointcloud() → None

get_color_enabled() → bool

get_color_fps() → int

get_color_height() → int

get_color_profile() → str

get_color_width() → int

get_depth_enabled() → bool

get_depth_fps() → int

get_depth_height() → int

get_depth_profile() → str

get_depth_width() → int

get_device_type() → str

get_pointcloud_enabled() → bool

is_color_enabled() → bool

is_depth_enabled() → bool

is_pointcloud_enabled() → bool

property pointcloud_enabled: bool

set_color_enabled(enable: bool) → None

set_color_fps(fps: int) → None

set_color_height(height: int) → None

set_color_profile(profile: str | list) → None

set_color_width(width: int) → None

set_depth_enabled(enable: bool) → None

set_depth_fps(fps: int) → None

set_depth_height(height: int) → None

set_depth_profile(profile: str | list) → None

set_depth_width(width: int) → None

set_device_type(device_type: str) → None

set_pointcloud_enabled(enable: bool) → None

class clearpath_config.sensors.types.cameras.Republisher(config: dict)

Bases: object

class Base(config: dict)

Bases: object

INPUT = 'input'

INPUT_DEFAULT = 'in'

OUTPUT = 'output'

OUTPUT_DEFAULT = 'out'

from_dict(config: dict) → None

property input: str

property output: str

to_dict() → dict

class Compress(config: dict)

Bases: Base

INPUT_DEFAULT = 'color'

OUTPUT_DEFAULT = 'compressed'

TYPE = 'compress'

class Rectify(config: dict)

Bases: Base

INPUT_DEFAULT = 'color'

OUTPUT_DEFAULT = 'rectified'

TYPE = 'rectify'

class Resize(config: dict)

Bases: Base

INPUT_DEFAULT = 'color'

OUTPUT_DEFAULT = 'resize'

TYPE = 'resize'

TYPE = 'type'

TYPES = {'compress': <class 'clearpath_config.sensors.types.cameras.Republisher.Compress'>, 'rectify': <class 'clearpath_config.sensors.types.cameras.Republisher.Rectify'>, 'resize': <class 'clearpath_config.sensors.types.cameras.Republisher.Resize'>, 'theora': <class 'clearpath_config.sensors.types.cameras.Republisher.Theora'>}

class Theora(config: dict)

Bases: Base

INPUT_DEFAULT = 'color'

OUTPUT_DEFAULT = 'theora'

TYPE = 'theora'

class clearpath_config.sensors.types.cameras.StereolabsZed(idx: int | None = None, name: str | None = None, topic: str = 'image', fps: int = 30, serial: str = '0', device_type: str = 'zed2', resolution: str = 'AUTO', urdf_enabled: bool = True, launch_enabled: bool = True, ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseCamera

DEVICE_TYPE = 'zed2'

DEVICE_TYPES = ['zed', 'zedm', 'zed2', 'zed2i', 'zedx', 'zedxm', 'virtual']

RESOLUTION_DEFAULT = 'AUTO'

RESOLUTION_PRESETS = ['AUTO', 'HD2K', 'HD1080', 'HD720', 'VGA']

class ROS_PARAMETER_KEYS

Bases: object

CAMERA_MODEL = 'stereolabs_zed.general.camera_model'

CAMERA_NAME = 'stereolabs_zed.general.camera_name'

FPS = 'stereolabs_zed.general.grab_frame_rate'

RESOLUTION = 'stereolabs_zed.general.grab_resolution'

SERIAL = 'stereolabs_zed.general.serial_number'

SENSOR_MODEL = 'stereolabs_zed'

SERIAL = 0

class TOPICS

Bases: object

COLOR_CAMERA_INFO = 'color_camera_info'

COLOR_IMAGE = 'color_image'

DEPTH_CAMERA_INFO = 'depth_camera_info'

DEPTH_IMAGE = 'depth_image'

IMU = 'imu'

NAME = {'color_camera_info': 'color/camera_info', 'color_image': 'color/image', 'depth_camera_info': 'depth/camera_info', 'depth_image': 'depth/image', 'imu': 'imu', 'points': 'points'}

POINTCLOUD = 'points'

RATE = {'color_camera_info': 30, 'color_image': 30, 'depth_camera_info': 30, 'depth_image': 30, 'imu': 30, 'points': 30}

VIRTUAL = 'virtual'

ZED = 'zed'

ZED2 = 'zed2'

ZED2I = 'zed2i'

ZEDM = 'zedm'

ZEDX = 'zedx'

ZEDXM = 'zedxm'

property camera_name: str

property device_type: str

get_serial() → int

property resolution: str

property serial: int

set_serial(serial: int) → None