adeck/python-urx-getl-rt
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

do not crash in tracker when math3d is not installed

Browse Source
This commit is contained in:
Olivier
2013-04-02 08:54:07 +02:00
parent 0c309a99dd
commit fb44bdd905
1 changed files with 15 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
urx/tracker.py
View File

@@ -2,8 +2,13 @@ import time
from multiprocessing import Process, Queue, Event from multiprocessing import Process, Queue, Event
from urx import urrtmon from urx import urrtmon
from math3d import Transform
MATH3D = True
try:
import math3d
except ImportError:
MATH3D = False
print("pymath3d library could not be found on this computer, disabling use of matrices")
class Tracker(Process): class Tracker(Process):
def __init__(self, robot_host): def __init__(self, robot_host):
@@ -13,6 +18,7 @@ class Tracker(Process):
self._stop = Event() self._stop = Event()
self._finished = Event() self._finished = Event()
self._data = [] self._data = []
if MATH3D:
self.calibration = Transform() self.calibration = Transform()
self.inverse = self.calibration.inverse() self.inverse = self.calibration.inverse()
@@ -20,10 +26,12 @@ class Tracker(Process):
print(self.__class__.__name__, ": ".join([str(i) for i in args])) print(self.__class__.__name__, ": ".join([str(i) for i in args]))
def set_calibration_matrix(self, cal): def set_calibration_matrix(self, cal):
if MATH3D:
self.calibration = cal self.calibration = cal
self.inverse = self.calibration.inverse() self.inverse = self.calibration.inverse()
def _save_data(self): def _save_data(self):
if MATH3D:
for data in self._data: for data in self._data:
data["transform"] = self.inverse * Transform(data["tcp"]) data["transform"] = self.inverse * Transform(data["tcp"])
self._queue.put(self._data) self._queue.put(self._data)