def default(self, ci):
seen_objects = [obj['name'] for obj in self.data['visible_objects']]
parent = self.component_instance.robot_parent
i = 0
for object_id in self.scene_object_list:
try:
t = time.time()
tacq_sec = int(t)
tacq_usec = int((t - tacq_sec) * 1000)
self.obj.objects[i].tacq_sec = tacq_sec
self.obj.objects[i].tacq_usec = tacq_usec
if object_id in seen_objects:
obj = passive_objects.obj_from_label(object_id)
position_3d = Transformation3d(obj)
logger.debug("VIMAN " + object_id + "(" + obj.name +
") is visible at " + str(position_3d))
self.obj.objects[i].found_Stereo = 1
_fill_world_matrix(self.obj.objects[i], position_3d)
_fill_robot_matrix(self.obj.objects[i], parent, position_3d)
else:
self.obj.objects[i].found_Stereo = 0
except KeyError as detail:
logger.debug("WARNING: Object %s not found in the scene" % detail)
i += 1
self.write(self.obj)
def default(self, ci):
seen_objects = [obj['name'] for obj in self.data['visible_objects']]
parent = self.component_instance.robot_parent
i = 0
for object_id in self.scene_object_list:
try:
t = time.time()
tacq_sec = int(t)
tacq_usec = int((t - tacq_sec) * 1000)
self.obj.objects[i].tacq_sec = tacq_sec
self.obj.objects[i].tacq_usec = tacq_usec
if object_id in seen_objects:
obj = passive_objects.obj_from_label(object_id)
position_3d = Transformation3d(obj)
logger.debug("VIMAN " + object_id + "(" + obj.name +
") is visible at " + str(position_3d))
self.obj.objects[i].found_Stereo = 1
_fill_world_matrix(self.obj.objects[i], position_3d)
_fill_robot_matrix(self.obj.objects[i], parent,
position_3d)
else:
self.obj.objects[i].found_Stereo = 0
except KeyError as detail:
logger.debug("WARNING: Object %s not found in the scene" %
detail)
i = i + 1
self.write(self.obj)
def write_viman(self, component_instance):
""" Write the objects list to a poster """
# Get the id of the poster already created
poster_id = self._poster_dict[component_instance.blender_obj.name]
parent = component_instance.robot_parent
scene = bge.logic.getCurrentScene()
seen_objects = [
obj['name'] for obj in component_instance.local_data['visible_objects']
]
i = 0
for object_id in self.scene_object_list:
try:
t = time.time()
tacq_sec = int(t)
tacq_usec = int((t - tacq_sec) * 1000)
ors_viman_poster.set_tacq(self.viman_data, i, tacq_sec, tacq_usec)
if object_id in seen_objects:
object = passive_objects.obj_from_label(object_id)
position_3d = Transformation3d(object)
logger.debug("VIMAN " + object_id + "(" + object.name +
") is visible at " + str(position_3d))
ors_viman_poster.set_visible(self.viman_data, i, 1)
_fill_world_matrix(self.viman_data, position_3d, i)
_fill_robot_matrix(self.viman_data, parent, position_3d, i)
else:
ors_viman_poster.set_visible(self.viman_data, i, 0)
# Write to the poster with the data for all objects
posted = ors_viman_poster.real_post_viman_poster(
poster_id, self.viman_data)
except KeyError as detail:
logger.debug("WARNING: Object %s not found in the scene" % detail)
pass
posted = False
i = i + 1
def write_viman(self, component_instance):
""" Write the objects list to a poster """
# Get the id of the poster already created
poster_id = self._poster_dict[component_instance.bge_object.name]
parent = component_instance.robot_parent
scene = blenderapi.scene()
seen_objects = [obj['name'] for obj in component_instance.local_data['visible_objects']]
i = 0
for object_id in self.scene_object_list:
try:
t = time.time()
tacq_sec = int(t)
tacq_usec = int((t - tacq_sec) * 1000)
ors_viman_poster.set_tacq(self.viman_data, i, tacq_sec, tacq_usec)
if object_id in seen_objects:
object = passive_objects.obj_from_label(object_id)
position_3d = Transformation3d(object)
logger.debug("VIMAN " + object_id + "(" + object.name + ") is visible at " + str(position_3d))
ors_viman_poster.set_visible(self.viman_data, i, 1)
_fill_world_matrix(self.viman_data, position_3d, i)
_fill_robot_matrix(self.viman_data, parent, position_3d, i)
else:
ors_viman_poster.set_visible (self.viman_data, i, 0)
# Write to the poster with the data for all objects
posted = ors_viman_poster.real_post_viman_poster(poster_id, self.viman_data)
except KeyError as detail:
logger.debug("WARNING: Object %s not found in the scene" % detail)
pass
posted = False
i = i + 1
