def sendLiveFeed(self):
        traject = Trajectory()
        traject.reference_frame = self.limb
        traject.times = self.times
        traject.positions = self.positions
        traject.velocities = self.velocities

        print "sending trajectory"

        self.plane_traj_pub.publish(traject)

        self.recycleTrajectoryMsgData()
    def sendImagePath(self, paths):
        oldpos = Vector3(0, 0, 0)
        for path in paths:
            loginfo("Starting New Line")
            (x, y) = path[0]
            self.MoveToScreenPosition(x, y, self.zDist)

            traject = Trajectory()
            traject.reference_frame = self.limb
            traject.times = []
            traject.positions = []
            traject.velocities = []
            i = 0
            sumtime = 0
            for pixels in path:
                if i % 5 == 0:
                    self.canvas.create_rectangle(
                        pixels[0], pixels[1], pixels[0] + 2, pixels[1] + 2, outline="#fb0", fill="#fb0"
                    )

                    new_p = Vector3(pixels[0] * self.scale, pixels[1] * self.scale, self.zDist)
                    new_v = Vector3(0, 0, 0)
                    new_t = 0
                    if i != 0:
                        dx = new_p.x - oldpos.x
                        dy = new_p.y - oldpos.y
                        dz = new_p.z - oldpos.z
                        dist = (dx ** 2 + dy ** 2 + dz ** 2) ** 0.5
                        new_v = Vector3((dx) / dist * self.speed, (dy) / dist * self.speed, dz / dist * self.speed)
                        new_t = traject.times[len(traject.times) - 1] + dist / self.speed
                    sumtime += new_t
                    traject.positions.append(new_p)
                    traject.velocities.append(new_v)
                    traject.times.append(new_t)
                    oldpos = new_p
                i += 1
            self.canvas.update()

            # self.plane_traj_pub.publish(traject)
            # rospy.sleep(sumtime)
            self.plane_traj_srv(traject.times, traject.positions, traject.velocities)