def sendFOVRequest(channel, imagePoints): channelToImageType = { 'CAMERA_LEFT' : lcmdrc.data_request_t.CAMERA_IMAGE_HEAD_LEFT, 'CAMERACHEST_LEFT' : lcmdrc.data_request_t.CAMERA_IMAGE_LCHEST, 'CAMERACHEST_RIGHT' : lcmdrc.data_request_t.CAMERA_IMAGE_RCHEST, } dataRequest = lcmdrc.data_request_t() dataRequest.type = channelToImageType[channel] message = lcmdrc.subimage_request_t() message.data_request = dataRequest imagePoints = np.array([[pt[0], pt[1]] for pt in imagePoints]) minX, maxX = imagePoints[:,0].min(), imagePoints[:,0].max() minY, maxY = imagePoints[:,1].min(), imagePoints[:,1].max() message.x = minX message.y = minY message.w = maxX - minX message.h = maxY - minY #print message.x, message.y, message.w, message.h requestChannel = 'SUBIMAGE_REQUEST' lcmUtils.publish(requestChannel, message)
def sendFOVRequest(channel, imagePoints): channelToImageType = { 'CAMERA_LEFT': lcmdrc.data_request_t.CAMERA_IMAGE_HEAD_LEFT, 'CAMERACHEST_LEFT': lcmdrc.data_request_t.CAMERA_IMAGE_LCHEST, 'CAMERACHEST_RIGHT': lcmdrc.data_request_t.CAMERA_IMAGE_RCHEST, } dataRequest = lcmdrc.data_request_t() dataRequest.type = channelToImageType[channel] message = lcmdrc.subimage_request_t() message.data_request = dataRequest imagePoints = np.array([[pt[0], pt[1]] for pt in imagePoints]) minX, maxX = imagePoints[:, 0].min(), imagePoints[:, 0].max() minY, maxY = imagePoints[:, 1].min(), imagePoints[:, 1].max() message.x = minX message.y = minY message.w = maxX - minX message.h = maxY - minY #print message.x, message.y, message.w, message.h requestChannel = 'SUBIMAGE_REQUEST' lcmUtils.publish(requestChannel, message)
def getMessage(self): msg = data_request_t() msg.type = self.messageType if self.streamCheck.isChecked(): msg.period = 10 * self.periodSpinner.value else: msg.period = -10 return msg
def getMessage(self): msg = data_request_t() msg.type = self.messageType if self.streamCheck.isChecked(): msg.period = 10*self.periodSpinner.value else: msg.period = -10 return msg
def sendDataRequest(requestType, repeatTime=0.0): msg = lcmdrc.data_request_t() msg.type = requestType msg.period = int(repeatTime*10) # period is specified in tenths of a second msgList = lcmdrc.data_request_list_t() msgList.utime = getUtime() msgList.requests = [msg] msgList.num_requests = len(msgList.requests) lcmUtils.publish('DATA_REQUEST', msgList)