def total(): global vc, rg2, ri, je, jd, civ mgr = rtm.findRTCmanager() mgr.load("VideoCapture") mgr.load("RGB2Gray") mgr.load("ResizeImage") mgr.load("JpegEncoder") mgr.load("JpegDecoder") mgr.load("CameraImageViewer") vc = mgr.create("VideoCapture") r2g = mgr.create("RGB2Gray") ri = mgr.create("ResizeImage") je = mgr.create("JpegEncoder") jd = mgr.create("JpegDecoder") civ = mgr.create("CameraImageViewer") ri.setProperty("scale", "0.5") rtm.connectPorts(vc.port("CameraImage"), r2g.port("rgb")) rtm.connectPorts(r2g.port("gray"), ri.port("original")) rtm.connectPorts(ri.port("resized"), je.port("decoded")) rtm.connectPorts(je.port("encoded"), jd.port("encoded")) rtm.connectPorts(jd.port("decoded"), civ.port("imageIn")) rtm.serializeComponents([vc, r2g, ri, je, jd, civ]) vc.start() r2g.start() ri.start() je.start() jd.start() civ.start()
def activateComps(): rtm.serializeComponents([rh, kf, log, mc, sh]) rh.start() kf.start() sh.start() log.start() mc.start()
def activateComps(): rtm.serializeComponents([rh, ted, log]) rh.start() ted.start() log.start()
def activateComps(): if use_udp: rtm.serializeComponents([rh, kf, log, mc_ctrl, sh, mc]) else: rtm.serializeComponents([rh, kf, log, mc, sh]) rh.start() kf.start() sh.start() log.start() mc.setProperty("robot", "@ROBOT_NAME@") mc.start() if use_udp: mc_ctrl.setProperty("robot", "@ROBOT_NAME@") mc_ctrl.start()
def capture(): global vc, civ, ccs mgr = rtm.findRTCmanager() mgr.load("VideoCapture") mgr.load("CameraImageViewer") vc = mgr.create("VideoCapture") civ = mgr.create("CameraImageViewer") ccs = rtm.narrow(vc.service("service0"), "CameraCaptureService", "Img") rtm.connectPorts(vc.port("CameraImage"), civ.port("imageIn")) rtm.serializeComponents([vc, civ]) vc.start() civ.start()
def rgb2gray(): mgr = rtm.findRTCmanager() mgr.load("VideoCapture") mgr.load("RGB2Gray") mgr.load("CameraImageViewer") vc = mgr.create("VideoCapture") r2g = mgr.create("RGB2Gray") civ = mgr.create("CameraImageViewer") rtm.connectPorts(vc.port("CameraImage"), r2g.port("rgb")) rtm.connectPorts(r2g.port("gray"), civ.port("imageIn")) rtm.serializeComponents([vc, r2g, civ]) vc.start() r2g.start() civ.start()
def resize(): global vc, ri, civ mgr = rtm.findRTCmanager() mgr.load("VideoCapture") mgr.load("ResizeImage") mgr.load("CameraImageViewer") vc = mgr.create("VideoCapture") ri = mgr.create("ResizeImage") civ = mgr.create("CameraImageViewer") ri.setProperty("scale", "0.5") rtm.connectPorts(vc.port("CameraImage"), ri.port("original")) rtm.connectPorts(ri.port("resized"), civ.port("imageIn")) rtm.serializeComponents([vc, ri, civ]) vc.start() ri.start() civ.start()
def jpeg(): global vc, je, jd, civ mgr = rtm.findRTCmanager() mgr.load("VideoCapture") mgr.load("JpegEncoder") mgr.load("JpegDecoder") mgr.load("CameraImageViewer") vc = mgr.create("VideoCapture") je = mgr.create("JpegEncoder") jd = mgr.create("JpegDecoder") civ = mgr.create("CameraImageViewer") rtm.connectPorts(vc.port("CameraImage"), je.port("decoded")) rtm.connectPorts(je.port("encoded"), jd.port("encoded")) rtm.connectPorts(jd.port("decoded"), civ.port("imageIn")) rtm.serializeComponents([vc, je, jd, civ]) vc.start() je.start() jd.start() civ.start() time.sleep(3) print "jpeg quality 95 -> 30" je.setProperty("quality", "30")
def activateComps(): rtm.serializeComponents([rh, seq, sh, log]) rh.start() seq.start() sh.start() log.start()
def activateComps(): rtm.serializeComponents([bridge, seq]) seq.start()
import rtm import commands mgr = rtm.findRTCmanager() mgr.load("VirtualCamera") mgr.load("OccupancyGridMap3D") mgr.load("OGMap3DViewer") vc = mgr.create("VirtualCamera") ogmap = mgr.create("OccupancyGridMap3D") viewer = mgr.create("OGMap3DViewer") openhrp_dir = commands.getoutput("pkg-config --variable=prefix openhrp3.1") project = "file://" + openhrp_dir + "/share/OpenHRP-3.1/sample/project/SampleRobot_inHouse.xml" vc.setProperty("project", project) vc.setProperty("camera", "Robot:VISION_SENSOR1") vc.setProperty("generateRange", "0") vc.setProperty("generatePointCloud", "1") vc.setProperty("generatePointCloudStep", "5") ogmap.setProperty("resolution", "0.05") rtm.connectPorts(vc.port("cloud"), ogmap.port("cloud")) rtm.connectPorts(vc.port("poseSensor"), ogmap.port("pose")) rtm.connectPorts(ogmap.port("OGMap3DService"), viewer.port("OGMap3DService")) rtm.serializeComponents([vc, ogmap]) vc.start() ogmap.start() viewer.start()
def activateComps(rtcList): rtm.serializeComponents(rtcList) for r in rtcList: #r.stop() r.start()
def activateComps(self): rtcList = self.getRTCInstanceList() rtm.serializeComponents(rtcList) for r in rtcList: r.start()
def activateComps(rtcList): rtm.serializeComponents(rtcList)
# -*- coding: utf-8 -*- import rtm global mgr, rtc1, rtc2 # Managerへの参照を取得します mgr = rtm.findRTCmanager() # NullComponent.soをロードします mgr.load("NullComponent") # NullComponentのインスタンスを2つ作ります rtc1 = mgr.create("NullComponent", "np1") rtc2 = mgr.create("NullComponent", "np2") # 2つのコンポーネントを接続します rtm.connectPorts(rtc1.port("dataOut"), rtc2.port("dataIn")) rtcs = [rtc1, rtc2] # 2つのコンポーネントが同期実行されるように設定します rtm.serializeComponents(rtcs) # 2つのコンポーネントをアクティベートします rtc1.start() rtc2.start()
def activateComps(): rtm.serializeComponents([bridge, seq, sh, abc]) seq.start() sh.start() abc.start()
def activateComps(rtcList): rtm.serializeComponents(rtcList) for r in rtcList: r.start()