def scan(self,delay=0.00):
#print(ccm.middle)
#import time
#now = time.time()
#'scan_image' will now use scan_image_multi
#a new multiprocessing version of scan_image
self._objects = middleware.request('scan_image',[])
###!!!Note the keys here are strings, not floats
###!!Converti them to float below
#self._objects = dict((float(k), v) for k,v in self._objects.items())
self._objects = dict((Decimal(k).quantize(Decimal('.001'),rounding=ROUND_HALF_UP), dict((kk,[Decimal(x).quantize(Decimal('.001'),rounding=ROUND_HALF_UP) for x in kv]) for kk,kv in v.items())) for k,v in self._objects.items())
self._ignoreLabels = ['None','Ground']
def scan(self, delay=0.00):
#print(ccm.middle)
#import time
#now = time.time()
#'scan_image' will now use scan_image_multi
#a new multiprocessing version of scan_image
self._objects = middleware.request('scan_image', [])
###!!!Note the keys here are strings, not floats
###!!Converti them to float below
#self._objects = dict((float(k), v) for k,v in self._objects.items())
self._objects = dict(
(Decimal(k).quantize(Decimal('.001'), rounding=ROUND_HALF_UP),
dict((kk, [
Decimal(x).quantize(Decimal('.001'), rounding=ROUND_HALF_UP)
for x in kv
]) for kk, kv in v.items())) for k, v in self._objects.items())
self._ignoreLabels = ['None', 'Ground']
def get_bounding_box(self):
print("get_bounding_box")
if self.busy:
return
self.busy = True
self._boundingBox = [x * 1.00 for x in middleware.request('getBoundingBox', [])]
pattern='type:proprioception feature:bounding_box'
matcher=Pattern(pattern)
objs = 0
for obj in self._internalChunks:
if matcher.match(obj)!= None:
objs+=1
obj.width=repr(self._boundingBox[0])
obj.depth=repr(self._boundingBox[1])
obj.height=repr(self._boundingBox[2])
if objs > 1:
raise Exception("There shouldn't be more than one match...")
print("get_bounding_box done.")
self.busy = False
self.update_posture()
def get_bounding_box(self):
print("get_bounding_box")
if self.busy:
return
self.busy = True
self._boundingBox = [
x * 1.00 for x in middleware.request('getBoundingBox', [])
]
pattern = 'type:proprioception feature:bounding_box'
matcher = Pattern(pattern)
objs = 0
for obj in self._internalChunks:
if matcher.match(obj) != None:
objs += 1
obj.width = repr(self._boundingBox[0])
obj.depth = repr(self._boundingBox[1])
obj.height = repr(self._boundingBox[2])
if objs > 1:
raise Exception("There shouldn't be more than one match...")
print("get_bounding_box done.")
self.busy = False
self.update_posture()
def xScan(self,openingDepth,y):
x = middleware.request('xScan', [openingDepth,y])
print(x)
def cScan(self,openingDepth='0.3'):
x = middleware.request('cScan', [openingDepth])
print(x)
def getScreenVector(self,x,y):
x = middleware.request('getScreenVector',[x,y])
print(x)
def process_image(self):
img = middleware.request('get_image',[])
def get_time(self):
print (middleware.request('get_time',[]))
def get_bones(self):
'''This will retrieve all the bones' names'''
return middleware.request('get_bones',[])
def get_time(self):
print(middleware.request('get_time', []))
def get_bones(self):
'''This will retrieve all the bones' names'''
return middleware.request('get_bones', [])
def xScan(self, openingDepth, y):
x = middleware.request('xScan', [openingDepth, y])
print(x)
def cScan(self, openingDepth='0.3'):
x = middleware.request('cScan', [openingDepth])
print(x)
def getScreenVector(self, x, y):
x = middleware.request('getScreenVector', [x, y])
print(x)
def process_image(self):
img = middleware.request('get_image', [])