def __init__(self, name=None):
SensorCreator.__init__(self, name)
self.camera = Camera("CameraRobot")
self.camera.name = "CameraRobot"
self.append(self.camera)
self.properties(cam_width = 256, cam_height = 256, cam_focal = 35.0,
capturing = True, Vertical_Flip = True)
# set the frequency to 20 Hz
self.frequency(20)
# add toggle capture action (`Space` key)
bpymorse.add_sensor(type="KEYBOARD")
obj = bpymorse.get_context_object()
sensor = obj.game.sensors[-1]
sensor.key = 'SPACE'
bpymorse.add_controller(type='LOGIC_AND')
controller = obj.game.controllers[-1]
bpymorse.add_actuator(type='PROPERTY')
actuator = obj.game.actuators[-1]
actuator.mode = 'TOGGLE'
actuator.property = 'capturing'
controller.link(sensor = sensor, actuator = actuator)
# looking in +X
SensorCreator.rotate(self, x=math.pi/2, z=math.pi/2)
# append CameraMesh with its textures
self.append_meshes(['CameraMesh'], "camera")
self.rotate(z=math.pi)
def __init__(self, name=None):
SensorCreator.__init__(self, name)
self.camera = Camera("CameraRobot")
self.camera.name = "CameraRobot"
self.append(self.camera)
self.properties(cam_width = 256, cam_height = 256, cam_focal = 35.0,
capturing = True, Vertical_Flip = True)
# set the frequency to 20 Hz
self.frequency(20)
# add toggle capture action (`Space` key)
bpymorse.add_sensor(type="KEYBOARD")
obj = bpymorse.get_context_object()
sensor = obj.game.sensors[-1]
sensor.key = 'SPACE'
bpymorse.add_controller(type='LOGIC_AND')
controller = obj.game.controllers[-1]
bpymorse.add_actuator(type='PROPERTY')
actuator = obj.game.actuators[-1]
actuator.mode = 'TOGGLE'
actuator.property = 'capturing'
controller.link(sensor = sensor, actuator = actuator)
# looking in +X
SensorCreator.rotate(self, x=math.pi/2, z=math.pi/2)
# append CameraMesh with its textures
self.mesh = self.append_meshes(['CameraMesh'], "camera")[0]
self.rotate(z=math.pi)
def __init__(self, name=None, cclass="VideoCameraClass", \
cpath="morse/sensors/video_camera", bname = "video_camera"):
SensorCreator.__init__(self, name, cpath, cclass, bname)
camera = Camera("CameraRobot")
camera.name = "CameraRobot"
self.append(camera)
self.properties(cam_width = 256, cam_height = 256, cam_focal = 35.0, \
capturing = True, Vertical_Flip = True)
# set the frequency to 3 (20ips for ticrate = 60Hz)
self.frequency(3)
# add toggle capture action (`Space` key)
bpymorse.add_sensor(type="KEYBOARD")
obj = bpymorse.get_context_object()
sensor = obj.game.sensors[-1]
sensor.key = 'SPACE'
bpymorse.add_controller(type='LOGIC_AND')
controller = obj.game.controllers[-1]
bpymorse.add_actuator(type='PROPERTY')
actuator = obj.game.actuators[-1]
actuator.mode = 'TOGGLE'
actuator.property = 'capturing'
controller.link(sensor = sensor, actuator = actuator)
# looking in +x
self.rotate(x=math.pi/2, z=-math.pi/2)
# append CameraMesh with its textures
imported_objects = self.append_meshes(['CameraMesh'], "video_camera")
# TODO fix the CameraMesh location and rotation in video_camera.blend
camera_mesh = imported_objects[0]
camera_mesh.rotation_euler = (math.pi/2, -math.pi/2, 0)
camera_mesh.location = (0, 0, 0.015)
def __init__(self, name=None):
DepthCamera.__init__(self, name)
# Always (MORSE_LOGIC) - And - Motion (rotation z: 0.017453)
morselogic = [sensor for sensor in self._bpy_object.game.sensors \
if sensor.name.startswith('MORSE_LOGIC')]
sensor = morselogic[0]
bpymorse.add_controller(type='LOGIC_AND')
controller = self._bpy_object.game.controllers[-1]
# Motion (rotation z: 0.017453)
bpymorse.add_actuator(type='MOTION', name='MORSE_ROTATE')
actuator = self._bpy_object.game.actuators[-1]
actuator.offset_rotation.y = self.camera._bpy_object.data.angle # FOV
controller.link(sensor=sensor, actuator=actuator)
def __init__(self, name=None):
DepthCamera.__init__(self, name)
# Always (MORSE_LOGIC) - And - Motion (rotation z: 0.017453)
morselogic = [sensor for sensor in self._bpy_object.game.sensors \
if sensor.name.startswith('MORSE_LOGIC')]
sensor = morselogic[0]
bpymorse.add_controller(type='LOGIC_AND')
controller = self._bpy_object.game.controllers[-1]
# Motion (rotation z: 0.017453)
bpymorse.add_actuator(type='MOTION', name='MORSE_ROTATE')
actuator = self._bpy_object.game.actuators[-1]
actuator.offset_rotation.y = self.camera._bpy_object.data.angle # FOV
controller.link(sensor = sensor, actuator = actuator)
def __init__(self, name=None):
SensorCreator.__init__(self, name, "morse/sensors/velodyne", \
"VelodyneClass", "velodyne")
# set components-specific properties
self.properties(Visible_arc = True, laser_range = 50.0, \
scan_window = 31.500, resolution = 0.5)
# Add Always (use_true_level) - And - Motion (rotation z: 0.017453)
bpymorse.add_sensor(type='ALWAYS')
obj = bpymorse.get_context_object()
sensor = obj.game.sensors[-1]
sensor.use_pulse_true_level = True
bpymorse.add_controller(type='LOGIC_AND')
controller = obj.game.controllers[-1]
# Motion (rotation z: 0.017453)
bpymorse.add_actuator(type='MOTION')
actuator = obj.game.actuators[-1]
actuator.offset_rotation.z = math.radians(1)
controller.link(sensor = sensor, actuator = actuator)
# append velodyne mesh, from MORSE_COMPONENTS/sensors/velodyne.blend
imported_objects = self.append_meshes(['VelodyneMesh', 'Arc_31'])
# TODO fix the VelodyneMesh location in velodyne.blend (z=1.2m!)
velodyne_mesh = self.get_child('VelodyneMesh', imported_objects)
velodyne_mesh.location.z = 0
