passthrough_node.py 文件源码

def get_camera_image(self, camera_id, location, rotation):
        roll, pitch, yaw = rotation
        self._client_lock.acquire()
        self._client.request("vset /camera/{0}/location {1} {2} {3}".format(camera_id, location[0],
                                                                            location[1], location[2]))
        self._client.request("vset /camera/{0}/rotation {1} {2} {3}".format(camera_id, pitch, yaw, roll))
        image_filename = self._client.request("vget /camera/{0}/lit".format(camera_id))
        self._client_lock.release()
        return image_filename

    # Service Handlers