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)