def sendFOVRequest(channel, imagePoints):
import maps as lcmmaps
channelToImageType = {
"CAMERA_LEFT": lcmmaps.data_request_t.CAMERA_IMAGE_HEAD_LEFT,
"CAMERACHEST_LEFT": lcmmaps.data_request_t.CAMERA_IMAGE_LCHEST,
"CAMERACHEST_RIGHT": lcmmaps.data_request_t.CAMERA_IMAGE_RCHEST,
}
dataRequest = lcmmaps.data_request_t()
dataRequest.type = channelToImageType[channel]
message = lcmmaps.subimage_request_t()
message.data_request = dataRequest
imagePoints = np.array([[pt[0], pt[1]] for pt in imagePoints])
minX, maxX = imagePoints[:, 0].min(), imagePoints[:, 0].max()
minY, maxY = imagePoints[:, 1].min(), imagePoints[:, 1].max()
message.x = minX
message.y = minY
message.w = maxX - minX
message.h = maxY - minY
# print message.x, message.y, message.w, message.h
requestChannel = "SUBIMAGE_REQUEST"
lcmUtils.publish(requestChannel, message)
def sendFOVRequest(channel, imagePoints):
import maps as lcmmaps
channelToImageType = {
'CAMERA_LEFT': lcmmaps.data_request_t.CAMERA_IMAGE_HEAD_LEFT,
'CAMERACHEST_LEFT': lcmmaps.data_request_t.CAMERA_IMAGE_LCHEST,
'CAMERACHEST_RIGHT': lcmmaps.data_request_t.CAMERA_IMAGE_RCHEST,
}
dataRequest = lcmmaps.data_request_t()
dataRequest.type = channelToImageType[channel]
message = lcmmaps.subimage_request_t()
message.data_request = dataRequest
imagePoints = np.array([[pt[0], pt[1]] for pt in imagePoints])
minX, maxX = imagePoints[:, 0].min(), imagePoints[:, 0].max()
minY, maxY = imagePoints[:, 1].min(), imagePoints[:, 1].max()
message.x = minX
message.y = minY
message.w = maxX - minX
message.h = maxY - minY
#print message.x, message.y, message.w, message.h
requestChannel = 'SUBIMAGE_REQUEST'
lcmUtils.publish(requestChannel, message)