capture_imgs_remote_driving_cozmo.py 文件源码

def apply(self, image, scale):
        d = ImageDraw.Draw(image)

        bounds = [3, 0, image.width, image.height]

        def print_line(text_line):
            text = cozmo.annotate.ImageText(text_line, position=cozmo.annotate.TOP_LEFT, color='lightblue')
            text.render(d, bounds)
            TEXT_HEIGHT = 11
            bounds[1] += TEXT_HEIGHT

        robot = self.world.robot

        # Display the Pose info for the robot

        pose = robot.pose
        print_line('Pose: Pos = <%.1f, %.1f, %.1f>' % pose.position.x_y_z)
        print_line('Pose: Rot quat = <%.1f, %.1f, %.1f, %.1f>' % pose.rotation.q0_q1_q2_q3)
        print_line('Pose: angle_z = %.1f' % pose.rotation.angle_z.degrees)
        print_line('Pose: origin_id: %s' % pose.origin_id)

        # Display the Accelerometer and Gyro data for the robot

        print_line('Accelmtr: <%.1f, %.1f, %.1f>' % robot.accelerometer.x_y_z)
        print_line('Gyro: <%.1f, %.1f, %.1f>' % robot.gyro.x_y_z)