def default(self, ci): main_to_origin = self.component_instance.robot_parent.position_3d pom_date, t = Pocolibs.compute_date() main_to_sensor = main_to_origin.transformation3d_with( self.component_instance.position_3d) info = StereopixelSimu() info.width = self.component_instance.image_width info.height = self.component_instance.image_height info.x_rob = main_to_origin.x info.y_rob = main_to_origin.y info.z_rob = main_to_origin.z info.yaw_rob = main_to_origin.yaw info.pitch_rob = main_to_origin.pitch info.roll_rob = main_to_origin.roll info.x_cam = main_to_sensor.x info.y_cam = main_to_sensor.y info.z_cam = main_to_sensor.z info.yaw_cam = main_to_sensor.yaw info.pitch_cam = main_to_sensor.pitch info.roll_cam = main_to_sensor.roll info.pom_tag = pom_date self.obj.post(info, self.data['points'])
def default(self, ci): if not self.component_instance.capturing: return main_to_origin = self.component_instance.robot_parent.position_3d pom_date, t = Pocolibs.compute_date() main_to_sensor = main_to_origin.transformation3d_with( self.component_instance.position_3d) info = StereopixelSimu() info.nb_pts = self.data['nb_points'] info.x_rob = main_to_origin.x info.y_rob = main_to_origin.y info.z_rob = main_to_origin.z info.yaw_rob = main_to_origin.yaw info.pitch_rob = main_to_origin.pitch info.roll_rob = main_to_origin.roll info.x_cam = main_to_sensor.x info.y_cam = main_to_sensor.y info.z_cam = main_to_sensor.z info.yaw_cam = main_to_sensor.yaw info.pitch_cam = main_to_sensor.pitch info.roll_cam = main_to_sensor.roll info.pom_tag = pom_date self.obj.post(info, self.data['points'])
def default(self, ci): if not self.component_instance.capturing: return main_to_origin = self.component_instance.robot_parent.position_3d pom_date, t = Pocolibs.compute_date() main_to_sensor = main_to_origin.transformation3d_with( self.component_instance.position_3d) info = VelodyneSimu() info.nb_pts = self.data['nb_points'] info.x_rob = main_to_origin.x info.y_rob = main_to_origin.y info.z_rob = main_to_origin.z info.yaw_rob = main_to_origin.yaw info.pitch_rob = main_to_origin.pitch info.roll_rob = main_to_origin.roll info.x_cam = main_to_sensor.x info.y_cam = main_to_sensor.y info.z_cam = main_to_sensor.z info.yaw_cam = main_to_sensor.yaw info.pitch_cam = main_to_sensor.pitch info.roll_cam = main_to_sensor.roll info.pom_tag = pom_date self.obj.post(info, self.data['points'])
def default(self, ci): first_cam = blenderapi.persistantstorage().componentDict[self.camera_order[0]] main_to_origin = first_cam.robot_pose pom_robot_position = ViamPos() pom_robot_position.x = main_to_origin.x pom_robot_position.y = main_to_origin.y pom_robot_position.z = main_to_origin.z pom_robot_position.yaw = main_to_origin.yaw pom_robot_position.pitch = main_to_origin.pitch pom_robot_position.roll = main_to_origin.roll # Compute the current time pom_date, t = Pocolibs.compute_date() ors_cameras = [] ors_images = [] # Cycle throught the cameras on the base # In normal circumstances, there will be two for stereo for camera_name in self.camera_order: camera_instance = blenderapi.persistantstorage().componentDict[camera_name] main_to_sensor = main_to_origin.transformation3d_with( camera_instance.position_3d) imX = camera_instance.image_width imY = camera_instance.image_height try: image_data = camera_instance.local_data['image'] except KeyError as detail: logger.warning("Camera image not found to read by VIAM poster.\n \ \tThe 'Class' property in the Camera component could be \ wrongly defined") # Don't create a poster if the camera is disabled if image_data is None or not camera_instance.capturing: logger.debug("Camera '%s' not capturing. Exiting viam poster" % \ camera_instance.bge_object.name) return # Fill in the structure with the image information camera_data = ViamSimuImage() camera_data.width = imX camera_data.height = imY camera_data.pom_tag = pom_date camera_data.tacq_sec = t.second camera_data.tacq_usec = t.microsecond camera_data.x = main_to_sensor.x camera_data.y = main_to_sensor.y camera_data.z = main_to_sensor.z camera_data.yaw = main_to_sensor.yaw camera_data.pitch = main_to_sensor.pitch camera_data.roll = main_to_sensor.roll camera_data.flipped = camera_instance.vertical_flip ors_cameras.append(camera_data) ors_images.append(image_data) self.obj.post(pom_robot_position, ors_cameras, ors_images)
def default(self, ci): first_cam = blenderapi.persistantstorage().componentDict[self.camera_order[0]] main_to_origin = first_cam.robot_pose pom_robot_position = ViamPos() pom_robot_position.x = main_to_origin.x pom_robot_position.y = main_to_origin.y pom_robot_position.z = main_to_origin.z pom_robot_position.yaw = main_to_origin.yaw pom_robot_position.pitch = main_to_origin.pitch pom_robot_position.roll = main_to_origin.roll # Compute the current time pom_date, t = Pocolibs.compute_date() ors_cameras = [] ors_images = [] # Cycle throught the cameras on the base # In normal circumstances, there will be two for stereo for camera_name in self.camera_order: camera_instance = blenderapi.persistantstorage().componentDict[camera_name] main_to_sensor = main_to_origin.transformation3d_with( camera_instance.position_3d) imX = camera_instance.image_width imY = camera_instance.image_height try: image_data = camera_instance.local_data['image'] except KeyError as detail: logger.warning("Camera image not found to read by VIAM poster.\n \ \tThe 'Class' property in the Camera component could be \ wrongly defined") # Don't create a poster if the camera is disabled if image_data == None or not camera_instance.capturing: logger.debug("Camera '%s' not capturing. Exiting viam poster" % \ camera_instance.bge_object.name) return # Fill in the structure with the image information camera_data = ViamSimuImage() camera_data.width = imX camera_data.height = imY camera_data.pom_tag = pom_date camera_data.tacq_sec = t.second camera_data.tacq_usec = t.microsecond camera_data.x = main_to_sensor.x camera_data.y = main_to_sensor.y camera_data.z = main_to_sensor.z camera_data.yaw = main_to_sensor.yaw camera_data.pitch = main_to_sensor.pitch camera_data.roll = main_to_sensor.roll camera_data.flipped = camera_instance.vertical_flip ors_cameras.append(camera_data) ors_images.append(image_data) self.obj.post(pom_robot_position, ors_cameras, ors_images)