def __init__(self, camera):
self.lock = threading.Lock()
self.client = camera
self.height = self.client.getHeight()
self.width = self.client.getWidth()
self.kill_event = threading.Event()
self.thread = ThreadSensor(self, self.kill_event)
self.thread.daemon = True
rgbfilter = RgbFilter()
hsvfilter = HsvFilter()
yuvfilter = YuvFilter()
self.filters = {RGB: rgbfilter, YUV: yuvfilter, HSV: hsvfilter}
if self.client.hasproxy():
trackImage = np.zeros((self.height, self.width, 3), np.uint8)
trackImage.shape = self.height, self.width, 3
self.images = {
ORIG: trackImage,
RGB: trackImage,
HSV: trackImage,
YUV: trackImage
}
self.kill_event.clear()
self.thread.start()
def __init__(self,ic,prefix, start = False):
self.pose3d = Pose3D(ic,prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.pose3d, self.kill_event)
self.thread.daemon = True
if start:
self.start()
def __init__(self, ic, prefix, start=False):
self.motors = PTMotors(ic, prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.motors, self.kill_event)
self.thread.daemon = True
if start:
self.start()
def __init__(self, ic, prefix, start=False):
self.navdata = NavData(ic, prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.navdata, self.kill_event)
self.thread.daemon = True
if start:
self.start()
def __init__(self, ic, prefix, start=False):
self.bumper = Bumper(ic, prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.bumper, self.kill_event)
self.thread.daemon = True
if start:
self.start()
def __init__(self, ic, prefix, start=False):
self.camera = Camera(ic, prefix)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self.camera, self.kill_event)
#self.thread = ThreadSensor(self.camera)
self.thread.daemon = True
if start:
self.start()
def __init__(self, grid, pose3d, start):
self.grid = grid
self.pose3d = pose3d
if self.pose3d.hasproxy():
self.grid.initPose(self.pose3d.getX(), self.pose3d.getY(),
self.pose3d.getYaw())
else:
self.grid.initPose(0, 0, 0)
self.kill_event = threading.Event()
self.thread = ThreadSensor(self, self.kill_event)
self.thread.daemon = True
if start:
self.start()
