def __init__(self): self.ORIGINAL_FORWARD = sl.Translation() self.ORIGINAL_FORWARD.init_vector(0,0,1) self.ORIGINAL_UP = sl.Translation() self.ORIGINAL_UP.init_vector(0,1,0) self.ORIGINAL_RIGHT = sl.Translation() self.ORIGINAL_RIGHT.init_vector(1,0,0) self.znear = 0.5 self.zfar = 100. self.horizontalFOV = 70. self.orientation_ = sl.Orientation() self.position_ = sl.Translation() self.forward_ = sl.Translation() self.up_ = sl.Translation() self.right_ = sl.Translation() self.vertical_ = sl.Translation() self.vpMatrix_ = sl.Matrix4f() self.offset_ = sl.Translation() self.offset_.init_vector(0,0,5) self.projection_ = sl.Matrix4f() self.projection_.set_identity() self.setProjection(1.78) self.position_.init_vector(0., 0., 0.) tmp = sl.Translation() tmp.init_vector(0, 0, -.1) tmp2 = sl.Translation() tmp2.init_vector(0, 1, 0) self.setDirection(tmp, tmp2)
def __init__(self): self.ORIGINAL_FORWARD = sl.Translation() self.ORIGINAL_FORWARD.init_vector(0, 0, 1) self.ORIGINAL_UP = sl.Translation() self.ORIGINAL_UP.init_vector(0, 1, 0) self.ORIGINAL_RIGHT = sl.Translation() self.ORIGINAL_RIGHT.init_vector(1, 0, 0) self.znear = 0.5 self.zfar = 100. self.horizontalFOV = 70. self.orientation_ = sl.Orientation() self.position_ = sl.Translation() self.forward_ = sl.Translation() self.up_ = sl.Translation() self.right_ = sl.Translation() self.vertical_ = sl.Translation() self.vpMatrix_ = sl.Matrix4f() self.projection_ = sl.Matrix4f() self.projection_.set_identity() self.setProjection(1.78) self.position_.init_vector(0., 5., -3.) tmp = sl.Translation() tmp.init_vector(0, 0, -4) tmp2 = sl.Translation() tmp2.init_vector(0, 1, 0) self.setDirection(tmp, tmp2) cam_rot = sl.Rotation() cam_rot.set_euler_angles(-50., 180., 0., False) self.setRotation(cam_rot)
def main(): rospy.init_node("rosnode_zed") signalRecieved = True while not signalRecieved: pass plane = sl.Plane() data = np.array([0, 0, 0, 0]) trasnform_matrix = sl.Matrix4f(data) transform = sl.Transform(trasnform_matrix) initProcessing(plane, transform) while True: grabFrames() time.sleep(0.1)
def __init__(self): self.available = False self.mutex = Lock() self.projection = sl.Matrix4f() self.projection.set_identity() self.znear = 0.1 self.zfar = 100. self.image_handler = ImageHandler() self.pose = sl.Transform().set_identity() self.tracking_state = sl.POSITIONAL_TRACKING_STATE.OFF self.mesh_object = MeshObject() self.user_action = UserAction() self.new_data = False self.wnd_w = 0 self.wnd_h = 0
def __init__(self): self.available = False self.mutex = Lock() self.draw_mesh = False self.new_chunks = False self.chunks_pushed = False self.change_state = False self.projection = sl.Matrix4f() self.projection.set_identity() self.znear = 0.5 self.zfar = 100. self.image_handler = ImageHandler() self.sub_maps = [] self.pose = sl.Transform().set_identity() self.tracking_state = sl.POSITIONAL_TRACKING_STATE.OFF self.mapping_state = sl.SPATIAL_MAPPING_STATE.NOT_ENABLED