def configure_camera():
main_camera = rospy.get_param("MAIN_CAMERA", DEFAULT_MAIN_CAMERA)
sub_camera = rospy.get_param("SUB_CAMERA", DEFAULT_SUB_CAMERA)
main_camera = CameraFactory.get_instance(main_camera)
main_camera.topic_name = "main_camera"
sub_camera = CameraFactory.get_instance(sub_camera)
sub_camera.topic_name = "sub_camera"
return main_camera, sub_camera
def update(self, state, delta_time):
"""Update camera with state and delta_time
Only cameras that are instantiated will get reset
"""
with self.lock:
for camera_type in self.camera_types:
camera_class = CameraFactory.get_class(camera_type)
if camera_class.has_instance():
camera = CameraFactory.get_instance(camera_type)
camera.update_pose(state, delta_time)
def reset(self, state):
"""Reset camera pose
Only cameras that are instantiated will get reset
"""
with self.lock:
for camera_type in self.camera_types:
camera_class = CameraFactory.get_class(camera_type)
if camera_class.has_instance():
camera = CameraFactory.get_instance(camera_type)
camera.reset_pose(state)
def configure_camera(namespaces=None, is_wait_for_model=True):
"""configure the top and follow car camear
Args:
namespaces (list): a list of all racecar namespace that top down and follow car
cameras have to be configured
is_wait_for_model (bool): boolean for whether wait for the racecar to be ready when
configure to camera. The default value is True and we are waiting for racecar model
for all besides virtual event because virtual event follow car camera does not follow
a specific car at all time
Returns:
tuple(list(FollowCarCamera), TopCamera): tuple of a list of FollowCarCamera instance and
a TopCamera instance
"""
namespaces = namespaces or ["racecar"]
global is_configure_camera_called
with configure_camera_function_lock:
if not is_configure_camera_called:
is_configure_camera_called = True
main_camera_type = rospy.get_param("MAIN_CAMERA",
DEFAULT_MAIN_CAMERA)
sub_camera_type = rospy.get_param("SUB_CAMERA", DEFAULT_SUB_CAMERA)
main_cameras = dict()
for namespace in namespaces:
if is_wait_for_model:
wait_for_model(model_name=namespace,
relative_entity_name="")
main_cameras[namespace] = CameraFactory.create_instance(
camera_type=main_camera_type,
model_name="/{}/{}".format(namespace, "main_camera"),
namespace=namespace,
)
sub_camera = CameraFactory.create_instance(
camera_type=sub_camera_type,
model_name="/{}".format("sub_camera"),
namespace=namespace,
)
return main_cameras, sub_camera
else:
err_msg = (
"configure_camera called more than once. configure_camera MUST be called ONLY once!"
)
raise GenericRolloutException(err_msg)
def configure_camera(namespaces=["racecar"]):
global is_configure_camera_called
with configure_camera_function_lock:
if not is_configure_camera_called:
is_configure_camera_called = True
main_camera_type = rospy.get_param("MAIN_CAMERA",
DEFAULT_MAIN_CAMERA)
sub_camera_type = rospy.get_param("SUB_CAMERA", DEFAULT_SUB_CAMERA)
main_camera = dict()
for namespace in namespaces:
main_camera[namespace] = CameraFactory.create_instance(
camera_type=main_camera_type,
topic_name="/{}/{}".format(namespace, "main_camera"),
namespace=namespace)
sub_camera = CameraFactory.create_instance(
camera_type=sub_camera_type,
topic_name="/{}".format("sub_camera"),
namespace=namespace)
return main_camera, sub_camera
else:
err_msg = "configure_camera called more than once. configure_camera MUST be called ONLY once!"
raise GenericRolloutException(err_msg)
def configure_camera(namespaces=None):
namespaces = namespaces or ["racecar"]
global is_configure_camera_called
with configure_camera_function_lock:
if not is_configure_camera_called:
is_configure_camera_called = True
main_camera_type = rospy.get_param("MAIN_CAMERA",
DEFAULT_MAIN_CAMERA)
sub_camera_type = rospy.get_param("SUB_CAMERA", DEFAULT_SUB_CAMERA)
main_cameras = dict()
for namespace in namespaces:
wait_for_model(model_name=namespace, relative_entity_name="")
main_cameras[namespace] = CameraFactory.create_instance(
camera_type=main_camera_type,
model_name="/{}/{}".format(namespace, "main_camera"),
namespace=namespace)
sub_camera = CameraFactory.create_instance(
camera_type=sub_camera_type,
model_name="/{}".format("sub_camera"),
namespace=namespace)
return main_cameras, sub_camera
else:
err_msg = "configure_camera called more than once. configure_camera MUST be called ONLY once!"
raise GenericRolloutException(err_msg)