(self, x, y, z, pitch, yaw, roll, path_params)
| 83 | return QW_new, QX_new, QY_new, QZ_new |
| 84 | |
| 85 | def set_camera_pose(self, x, y, z, pitch, yaw, roll, path_params): |
| 86 | yaw = -yaw |
| 87 | pitch = -40 |
| 88 | QW, QX, QY, QZ = self.transform_to_camera_frame(math.radians(roll), math.radians(pitch), math.radians(yaw)) |
| 89 | camera_position = world2cam_WXYZ(x, y, z, QW, QX, QY, QZ) |
| 90 | quat = [QW, QX, QY, QZ] |
| 91 | camera_id = 0 |
| 92 | image_name = "00000000.png" |
| 93 | image_data = f"{camera_id} {' '.join(map(str, quat))} {' '.join(map(str, [camera_position[0], camera_position[1], camera_position[2]]))} {0} {image_name}" |
| 94 | camera_params = f"0 PINHOLE 1436 1077 718.861 718.861 718 538.5" |
| 95 | data = { |
| 96 | "camera": camera_params, |
| 97 | "image": image_data, |
| 98 | "path": path_params |
| 99 | } |
| 100 | print(data) |
| 101 | try: |
| 102 | response = requests.post(self.url, data=data) |
| 103 | if response.status_code == 200: |
| 104 | print("Request successful!") |
| 105 | print(response.text) |
| 106 | else: |
| 107 | print(f"Request failed, status code: {response.status_code}") |
| 108 | print(response.text) |
| 109 | memory = psutil.virtual_memory() |
| 110 | print(memory.percent) |
| 111 | if memory.percent >= 90: |
| 112 | print("Memory usage is above 90%") |
| 113 | self.process.terminate() |
| 114 | self.__init__() |
| 115 | except requests.RequestException as e: |
| 116 | print(f"Error during request: {e}") |
| 117 | time.sleep(20) |
| 118 | |
| 119 | def process_camera_data(self, file_path): |
| 120 | pass |
no test coverage detected