def camera_obj():
cam_obj = web_camera()
yield cam_obj
cam_obj.destroy()
global lr, br
# then define the marker id for the object
markers = {0: 3.9, 6: 2.5, 2: 2.9, 5: 1.9, 20: 3.0}
avm = april_tag_detection.ApriltagVisionModule(markers)
# select an appropriate camera first
camera_selection = 3
cam = None
if camera_selection == 0:
pass
elif camera_selection == 1:
from cameras.realsense import realsense
cam = realsense()
elif camera_selection == 2:
from cameras.web_camera import web_camera
cam = web_camera()
elif camera_selection == 3:
from cameras.realsense_TX2 import realsenseTX2
cam = realsenseTX2()
# then select a robot
rospy.init_node("visualrender", anonymous=True)
#robot = Ginger()
#robot.rate.sleep()
_GINGER = 'BUTTERFLY'
g_camera_head = None
if _GINGER == 'OLD':
g_camera_head = tf.transformations.euler_matrix(
0, -np.pi / 5.5, np.pi / 2, 'syxz') # y-x-z axis
g_camera_head[0, -1] = 0.14