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