def default(self, ci):
if not self.component_instance.capturing:
return
main_to_origin = self.component_instance.robot_parent.position_3d
pom_date, t = PocolibsDatastreamManager.compute_date()
main_to_sensor = main_to_origin.transformation3d_with(
self.component_instance.position_3d)
info = StereopixelSimu()
info.nb_pts = self.data['nb_points']
info.x_rob = main_to_origin.x
info.y_rob = main_to_origin.y
info.z_rob = main_to_origin.z
info.yaw_rob = main_to_origin.yaw
info.pitch_rob = main_to_origin.pitch
info.roll_rob = main_to_origin.roll
info.x_cam = main_to_sensor.x
info.y_cam = main_to_sensor.y
info.z_cam = main_to_sensor.z
info.yaw_cam = main_to_sensor.yaw
info.pitch_cam = main_to_sensor.pitch
info.roll_cam = main_to_sensor.roll
info.pom_tag = pom_date
self.obj.post(info, self.data['points'])
def default(self, ci):
if not self.component_instance.capturing:
return
main_to_origin = self.component_instance.robot_parent.position_3d
pom_date, t = PocolibsDatastreamManager.compute_date()
main_to_sensor = main_to_origin.transformation3d_with(
self.component_instance.position_3d)
info = VelodyneSimu()
info.nb_pts = self.data['nb_points']
info.x_rob = main_to_origin.x
info.y_rob = main_to_origin.y
info.z_rob = main_to_origin.z
info.yaw_rob = main_to_origin.yaw
info.pitch_rob = main_to_origin.pitch
info.roll_rob = main_to_origin.roll
info.x_cam = main_to_sensor.x
info.y_cam = main_to_sensor.y
info.z_cam = main_to_sensor.z
info.yaw_cam = main_to_sensor.yaw
info.pitch_cam = main_to_sensor.pitch
info.roll_cam = main_to_sensor.roll
info.pom_tag = pom_date
self.obj.post(info, self.data['points'])
def default(self, ci):
first_cam = blenderapi.persistantstorage().componentDict[self.camera_order[0]]
main_to_origin = first_cam.robot_pose
pom_robot_position = ViamPos()
pom_robot_position.x = main_to_origin.x
pom_robot_position.y = main_to_origin.y
pom_robot_position.z = main_to_origin.z
pom_robot_position.yaw = main_to_origin.yaw
pom_robot_position.pitch = main_to_origin.pitch
pom_robot_position.roll = main_to_origin.roll
# Compute the current time
pom_date, t = PocolibsDatastreamManager.compute_date()
ors_cameras = []
ors_images = []
# Cycle throught the cameras on the base
# In normal circumstances, there will be two for stereo
for camera_name in self.camera_order:
camera_instance = blenderapi.persistantstorage().componentDict[camera_name]
main_to_sensor = main_to_origin.transformation3d_with(
camera_instance.position_3d)
imX = camera_instance.image_width
imY = camera_instance.image_height
try:
image_data = camera_instance.local_data['image']
except KeyError as detail:
logger.warning("Camera image not found to read by VIAM poster.\n \
\tThe 'Class' property in the Camera component could be \
wrongly defined")
# Don't create a poster if the camera is disabled
if image_data is None or not camera_instance.capturing:
logger.debug("Camera '%s' not capturing. Exiting viam poster" % \
camera_instance.bge_object.name)
return
# Fill in the structure with the image information
camera_data = ViamSimuImage()
camera_data.width = imX
camera_data.height = imY
camera_data.pom_tag = pom_date
camera_data.tacq_sec = t.second
camera_data.tacq_usec = t.microsecond
camera_data.x = main_to_sensor.x
camera_data.y = main_to_sensor.y
camera_data.z = main_to_sensor.z
camera_data.yaw = main_to_sensor.yaw
camera_data.pitch = main_to_sensor.pitch
camera_data.roll = main_to_sensor.roll
camera_data.flipped = camera_instance.vertical_flip
ors_cameras.append(camera_data)
ors_images.append(image_data)
self.obj.post(pom_robot_position, ors_cameras, ors_images)
