def look_to(self, done_cb, yaw=None, pitch=None, zoom=1):
if not yaw:
yaw = Params().axis_pan
if not pitch:
pitch = Params().axis_tilt
goal = CameraGoal()
goal.command = 1
goal.pan = yaw
goal.tilt = pitch
self.cancel_all_actions()
self._action = ActionWrapper(action_client=self.camera_ptz_client,
goal=goal,
done_cb=done_cb)
def camera_sweep(self, done_cb, delta_yaw=None, duration=None, zoom=1):
if not delta_yaw:
delta_yaw = Params().axis_sweep_angle
if not duration:
duration = Params().axis_sweep_duration
goal = CameraGoal()
goal.command = 2 #sweep
goal.tilt = Params().axis_tilt
goal.sweep_step = delta_yaw
goal.sweep_hold_time = duration
self.cancel_all_actions()
self._action = ActionWrapper(action_client=self.camera_ptz_client,
goal=goal,
done_cb=done_cb)
