task3.py 文件源码

def _find_door(self):
        """ Find the door, The most distant point in our cloud """
        cloud = self.fc.zarj.eyes.get_stereo_cloud()
        image, details = self.fc.zarj.eyes.get_cloud_image_with_details(cloud)

        # we only want the center of the image
        shape = image.shape
        print shape
        cloud = details[0:2*shape[0]/3, shape[1]/3:2*shape[1]/3]
        cloud = np.compress([False, False, True, False], cloud, axis=2)
        cloud = cloud.flatten()
        return np.nanmax(cloud)