def convertKPsToMetres(self, kps_bearingrange):
# because the localmaxima node uses x and y to store bearing range,
# which is somewhat wrong, but nevermind:
# Also here we discard keypoints that are a long way away (> Max_Range)
Max_Range = self.options.Max_Range
r = []
for kp in kps_bearingrange:
bearing = kp.pt.x
range = kp.pt.y
if range > Max_Range:
continue
t = msg.KeyPoint(
msg.floatXY(-range * math.sin(bearing),
range * math.cos(bearing)), kp.size, kp.angle,
kp.response, kp.octave, kp.class_id)
r.append(t)
return r
p_MotorMap << pp.Group(l \
+ p_int + c \
+ p_int + c \
+ p_int + c \
+ p_int \
+ r)
p_MotorMap.setParseAction(lambda x: messaging.MotorMap(*x[0]))
p_KeyPoint << pp.Group(l \
+ p_floatXY + c \
+ p_float + c \
+ p_float + c \
+ p_float + c \
+ p_float + c \
+ p_float \
+ r)
p_KeyPoint.setParseAction(lambda x: messaging.KeyPoint(*x[0]))
p_ScriptResponse << pp.Group(l \
+ p_str + c \
+ p_DebugType + c \
+ p_str + c \
+ p_int \
+ r)
p_ScriptResponse.setParseAction(lambda x: messaging.ScriptResponse(*x[0]))
p_ScriptExecRequest << pp.Group(l \
+ p_str + c \
+ p_float + c \
+ p_str + c \
+ p_int \
+ r)
p_ScriptExecRequest.setParseAction(lambda x: messaging.ScriptExecRequest(*x[0]))
