Add support for thermal images

andchiind · Feb 22, 2024 · ef51ba3 · ef51ba3
1 parent b727fea
commit ef51ba3
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/src/isar_exr/robotinterface.py b/src/isar_exr/robotinterface.py
@@ -398,7 +398,13 @@ def _create_and_add_poi(
                 )
             )
             add_point_of_interest_input["photoAction"] = photo_input
-
+        elif isinstance(step, TakeThermalImage):
+            photo_input: PointOfInterestActionPhotoInput = (
+                PointOfInterestActionPhotoInput(
+                    robotPose=photo_input_pose, sensor="back_cam_link"
+                )
+            )
+            add_point_of_interest_input["photoAction"] = photo_input
         elif isinstance(step, TakeVideo):
             video_input: PointOfInterestActionVideoInput = (
                 PointOfInterestActionVideoInput(