def __init__(self, *args, **kwargs):
"""Takes arguments of serial port number (0-n) and camera
number on daisy chain (1-9), a daisychain of 0 will send commands to
all cameras on the port."""
Camera.__init__(self, *args, **kwargs)
# Some global values for the rs232 commands
self._header = struct.pack('B',0xFF)
self._footer = struct.pack('B',0xEF)
self.sport = serial.Serial(self.port, # port numbering starts at 0
baudrate = 9600, #
bytesize = serial.EIGHTBITS, #
parity = serial.PARITY_NONE, #
stopbits = serial.STOPBITS_ONE, #
timeout = 0.1, #
xonxoff = 0, # disablesoftware flow control
rtscts = 1) # enable hardware flow control
self.port = self._toParm(self.port,1)
self.daisychain = self._toParm(int(self.daisychain),1)
self._dev = struct.pack('2B',
0x30,
0x30+int(self.daisychain,16))
self.movement_quanta=10
if self.daisychain == "1":
# if we're the first camera on the chain:
self._startup() # comment out for speedier testing
def __init__(self, device_index, capture_fps, capture_size,
classify_service):
Camera.__init__(self, device_index, capture_fps, capture_size)
self.__current_result_lock = threading.Lock()
self.__current_result = None
self.__classify_stop_flag = False
self.__classify_thread = None
self.__classify_service = classify_service
def __init__(self, device_index, capture_fps, capture_size, result_cache_size, detect_service):
Camera.__init__(self, device_index, capture_fps, capture_size)
self.__result_cache_size = result_cache_size
self.__result_cache_lock = threading.Lock()
self.__result_cache = []
self.__detect_stop_flag = False
self.__detect_thread = None
self.__detect_service = detect_service
def __init__(self, name, measureUnit, measureIface, writerUnit=None):
'''constructor
'''
TotalStation.__init__(self, name, measureUnit, measureIface,
writerUnit)
Camera.__init__(self, name, measureUnit, measureIface, writerUnit)
#StepperMotor.__init__(self, stepperMotorUnit, speed, halfSteps)
self._affinParams = None
def __init__(self, *args, **kwargs):
Camera.__init__(self, *args, **kwargs)
self.unit_sun_vect = self.sun_vect / np.linalg.norm(self.sun_vect)
## rotation_mobject lives in the phi-theta-distance space
self.rotation_mobject = VectorizedPoint()
## moving_center lives in the x-y-z space
## It representes the center of rotation
self.moving_center = VectorizedPoint(self.space_center)
self.set_position(self.phi, self.theta, self.distance)
def __init__(self, name, measureUnit, measureIface, writerUnit = None):
'''constructor
'''
TotalStation.__init__(self, name, measureUnit, measureIface, writerUnit)
Camera.__init__(self, name, measureUnit, measureIface, writerUnit)
#StepperMotor.__init__(self, stepperMotorUnit, speed, halfSteps)
self._affinParams = None
def __init__(self):
Camera.__init__(self)
self.image_publisher = rospy.Publisher('/image',
ImageMsg,
queue_size=10)
self.image_subscriber = rospy.Subscriber(
'raspicam_node/image/compressed', CompressedImage,
self.on_image_received)
self.bool_publiher = rospy.Publisher('/bool', Bool, queue_size=10)
self.state_subscriber = rospy.Subscriber(
'/life_cycle_state', Bool, self.on_life_cycle_state_changed)
self.bridge = CvBridge()
self.compressed_images = list()
def __init__(self, screen, game):
Camera.__init__(self, screen)
self.game = game
self.walkontoTile = pygame.Surface(globs.TILESIZE)
self.walkontoTile.fill((255,0,0))
self.walkontoTile.set_alpha(127)
self.investigateTile = pygame.Surface(globs.TILESIZE)
self.investigateTile.fill((0,255,0))
self.investigateTile.set_alpha(127)
self.warpTile = pygame.Surface(globs.TILESIZE)
self.warpTile.fill((0,0,255))
self.warpTile.set_alpha(127)
def __init__(self, screen, game):
Camera.__init__(self, screen)
self.game = game
self.walkontoTile = pygame.Surface(globs.TILESIZE)
self.walkontoTile.fill((255, 0, 0))
self.walkontoTile.set_alpha(127)
self.investigateTile = pygame.Surface(globs.TILESIZE)
self.investigateTile.fill((0, 255, 0))
self.investigateTile.set_alpha(127)
self.warpTile = pygame.Surface(globs.TILESIZE)
self.warpTile.fill((0, 0, 255))
self.warpTile.set_alpha(127)
def __init__(self, *args, **kwargs):
"""Takes arguments of serial port number (port=0-n) and camera
number on daisy chain (daisychain=1-7) """
Camera.__init__(self, *args, **kwargs)
self.port = int(self.port)
self.daisychain = int(self.daisychain)
# Header, which camera we're talking to
self._header = struct.pack('B',0x80+self.daisychain)
#modes
self._mode_control = struct.pack('B',0x01)
self._mode_info = struct.pack('B',0x09)
self._mode_net = struct.pack('B',0x00)
#categorys (not rigidly defined in spec
self._category_move = struct.pack('B',0x06)
self._category_cam = struct.pack('B',0x04)
# End of command
self._terminator = struct.pack('B',0xFF)
# set up the serial port
self.sport = serial.Serial(self.port,
baudrate = 9600,
bytesize = serial.EIGHTBITS,
parity = serial.PARITY_NONE,
stopbits = serial.STOPBITS_ONE,
timeout = 0.1,
xonxoff = 0,
rtscts = 1)
self.movement_quanta=10
# movement speed
# to be controlled by Zoom eventually
self._panSpeed = struct.pack('B',0x09)
self._tiltSpeed = struct.pack('B',0x09)
self._startup
self._read()
self._read()
self._read()
def __init__(self, *args, **kwargs):
Camera.__init__(self, *args, **kwargs)
self.unit_sun_vect = self.sun_vect / np.linalg.norm(self.sun_vect)
def __init__(self, *args, **kwargs):
Camera.__init__(self, *args, **kwargs)
self.unit_sun_vect = self.sun_vect/np.linalg.norm(self.sun_vect)
def __init__(self, *args, **kwargs):
Camera.__init__(self, *args, **kwargs)
self.unit_sun_vect = self.sun_vect/np.linalg.norm(self.sun_vect)
self.position_mobject = VectorizedPoint()
self.set_position(self.phi, self.theta, self.distance)
def __init__(self):
Camera.__init__(self)
self.subCoordenadas = message_filters.Subscriber(
'coordenadas_circulos', Vector3Stamped)
self.subVitima = message_filters.Subscriber('tem_circulos',
BoolStamped)
def __init__(self):
Camera.__init__(self)
self.start_cameras()
