本文整理汇总了Python中reader.Reader.getWidth方法的典型用法代码示例。如果您正苦于以下问题：Python Reader.getWidth方法的具体用法？Python Reader.getWidth怎么用？Python Reader.getWidth使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类reader.Reader的用法示例。
在下文中一共展示了Reader.getWidth方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: XTION
# 需要导入模块: from reader import Reader [as 别名]
# 或者: from reader.Reader import getWidth [as 别名]
class XTION(Sensor):
"""
A class for the Asus XTION
"""
viewangle = 58 # asus xtion view in degrees
linecount = 5 # lines above and below to generate average (0=online desired line)
distance_no_detection_mm = 3500 # max detection range
scan_rate_hz = 50 # todo find value
detectionMargin = 4 # pixels on the sites of the scans which should be ignored
offsetMillimeters = 0 # offset of the sensor to the center of the robot
def __init__(self, log=True):
self.log = log
if (log):
self.out = open('log', 'w')
self.reader = Reader()
self.width = self.reader.getWidth()
self.height = self.reader.getHeight()
self.row = self.height / 2 # row to read
Sensor.__init__(self, self.width, self.scan_rate_hz, self.viewangle, self.distance_no_detection_mm,
self.detectionMargin, self.offsetMillimeters)
def scan(self):
"""
Scan one line.
:return: Array with the values.
"""
frame = self.reader.readFrame()
data = self.readLine(frame, self.width, self.height, self.row)
return data
def readLine(self, frame_data, width, height, line):
"""
Print the depth value for every pixel in on line.
:param frame_data: Depth-frame.
:param width: Width of the frame.
:param height: Height of the frame.
:param line: Line to print.
:return: One data row converted as lidar.
"""
data = []
for x in range(width - 1, -1, -1):
value = self.getAverageDepth(frame_data, width, height, x, line, self.linecount)
converted = self.toLidarValue(value, x, width)
if self.log:
self.out.write(str(converted) + ' ')
if converted > self.distance_no_detection_mm:
converted = 0
data.append(converted)
if self.log:
self.out.write('\n')
return data
def toLidarValue(self, value, x, width):
"""
Convert the measured value of the asus xtion to the value a lidar would measure.
:param value: Value to convert.
:param x: X position of the value.
:param width: Width of the frame.
:return: Converted value.
"""
angle = (float(width) / 2 - x) / width * self.viewangle
return int(value / math.cos(math.radians(angle)))
'''
#get the average value of a specifiv pixel with a certain amount of pixel above and under.
#frame_data - depth frame
#widht - width of the frame
#height - height of the frame
#x - coordinate of the pixel
#y - coordinate of the pixel
#distance - pixels under and above the desired row
return: average value
'''
def getAverageDepth(self, frame_data, width, height, x, y, distance):
"""
Get the average value of a specific pixel with a certain amount of pixel above and under.
:param frame_data: Depth frame.
:param width: Width of the frame.
:param height: Height of the frame.
:param x: X coordinate of the pixel.
:param y: Y coordinate of the pixel.
:param distance: Pixels under and above the desired row.
:return: Average value.
"""
sum = 0
count = 0
for yTemp in range(-distance + y, distance + 1 + y):
value = frame_data[yTemp * width + x]
if value > 0:
sum += value
count += 1
if count > 0:
return sum / count
else:
#.........这里部分代码省略.........