print_once_flag = False
msg = recv_msg()
if msg != None:
cmd = pickle.loads(msg)
print(cmd)
current_task = cmd["name"]
args = cmd["args"]
print("Executing: " + current_task + " " + str(args))
print_once_flag = True
if current_task == "get_image":
if not rgb_enabled:
cameraRGB.enable(timestep)
rgb_enabled = True
else:
np_img = np.array(cameraRGB.getImageArray(), dtype=np.uint8)
respond("done", np_img)
current_task = "idle"
cameraRGB.disable()
rgb_enabled = False
if current_task == "get_depth":
if not depth_enabled:
cameraDepth.enable(timestep)
depth_enabled = True
else:
np_dep = np.array(cameraDepth.getRangeImageArray())
respond("done", np_dep)
current_task = "idle"
cameraDepth.disable()
depth_enabled = False
# get and set value for parameters.
left7 = irLeft7.getValue()
left6 = irLeft6.getValue()
left5 = irLeft5.getValue()
right0 = irRight0.getValue()
right1 = irRight1.getValue()
right2 = irRight2.getValue()
gRight = gsRight.getValue()
gLeft = gsLeft.getValue()
gCentre = gsCentre.getValue()
# display the components of each pixel
image = camera.getImageArray()
# get the colour component of the pixel x (0,40) y(5,6)
for x in range(0, camera.getWidth()):
for y in range(5, 6):
# we fill our arrays with the colour values.
red[x] = image[x][y][0]
green[x] = image[x][y][1]
blue[x] = image[x][y][2]
# that illustrates arrays in the text field.
print
'r=' + str(red)
print
'g=' + str(green)
print
