Method set_camera_pose

train/eval.py:348–380

(self, x, y, z, pitch, yaw, roll, path_params)

        return QW_new, QX_new, QY_new, QZ_new

    def set_camera_pose(self, x, y, z, pitch, yaw, roll, path_params):
        yaw = -yaw
        pitch = -40
        QW, QX, QY, QZ = self.transform_to_camera_frame(math.radians(roll), math.radians(pitch), math.radians(yaw))
        camera_position = world2cam_WXYZ(x, y, z, QW, QX, QY, QZ)
        quat = [QW, QX, QY, QZ]
        camera_id = 0
        image_name = "00000000.png"
        image_data = f"{camera_id} {' '.join(map(str, quat))} {' '.join(map(str, [camera_position[0], camera_position[1], camera_position[2]]))} {0} {image_name}"
        camera_params = f"0 PINHOLE 1436 1077 718.861 718.861 718 538.5"
        data = {
            "camera": camera_params,
            "image": image_data,
            "path": path_params
        }
        print(data)
        try:
            response = requests.post(self.url, data=data)
            if response.status_code == 200:
                print("Request successful!")
                print(response.text) 
            else:
                print(f"Request failed, status code: {response.status_code}")
                print(response.text)
            memory = psutil.virtual_memory()
            print(memory.percent)
            if memory.percent >= 90:
                print("Memory usage is above 90%")
                self.process.terminate()
                self.__init__()
        except requests.RequestException as e:
            print(f"Error during request: {e}")
            time.sleep(20)

    def process_camera_data(self, file_path):
        pass