def onStartMappingButton(self): msg = map_command_t() msg.timestamp = getUtime() msg.command = 0 lcmUtils.publish('KINECT_MAP_COMMAND', msg) utime = self.queue.getCurrentImageTime('KINECT_RGB') self.cameraToLocalInit = vtk.vtkTransform() self.queue.getTransform('KINECT_RGB', 'local', utime, self.cameraToLocalInit) vis.updateFrame(self.cameraToLocalInit, 'initial cam' ) print "starting mapping", utime print self.cameraToLocalInit.GetPosition() print self.cameraToLocalInit.GetOrientation()
home_dir = os.getenv("HOME") #print home_dir sys.path.append(home_dir + "/drc/software/build/lib/python2.7/site-packages") sys.path.append(home_dir + "/drc/software/build/lib/python2.7/dist-packages") from kinect.map_command_t import map_command_t def timestamp_now(): return int(time.time() * 1000000) if len(sys.argv) > 1: val = sys.argv[1].lower() # currently crashes otherwise else: print 'No mode specified: start or finish, some finish' val = 'finish' msg = map_command_t() msg.timestamp = timestamp_now() if (val is 'start'): msg.command = 0 if (val == 'finish'): msg.command = 1 lc = lcm.LCM() lc.publish("KINECT_MAP_COMMAND", msg.encode()) print "Commanding: ", val
def onStopMappingButton(self): msg = map_command_t() msg.timestamp = getUtime() msg.command = 1 lcmUtils.publish('KINECT_MAP_COMMAND', msg)
# print home_dir sys.path.append(home_dir + "/drc/software/build/lib/python2.7/site-packages") sys.path.append(home_dir + "/drc/software/build/lib/python2.7/dist-packages") from kinect.map_command_t import map_command_t def timestamp_now(): return int(time.time() * 1000000) if len(sys.argv) > 1: val = sys.argv[1].lower() # currently crashes otherwise else: print "No mode specified: start or finish, some finish" val = "finish" msg = map_command_t() msg.timestamp = timestamp_now() if val is "start": msg.command = 0 if val == "finish": msg.command = 1 lc = lcm.LCM() lc.publish("KINECT_MAP_COMMAND", msg.encode()) print "Commanding: ", val