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
