kpick.apps.robotplus package

Subpackages

kpick.apps.robotplus.datasets package

Submodules

kpick.apps.robotplus.copper_detector module

kpick.apps.robotplus.detector module

kpick.apps.robotplus.halcon_pose_estimator module

class kpick.apps.robotplus.halcon_pose_estimator.HaSurfaceMatcher

Bases: object

calcAxes3D(center, theta, unit_len=30)

calcBBox3D(center, radius, theta)

drawAxes2D(im, axes2D)

drawBox(im, bbox, color)

getAffine3D(trans, theta)

get_a_surface_model(bg_xyz, surface_xyz)

get_model(modelDir, cam_intr, denoise_ksize)

matchSurface(rgbd, cam_intr, ref_ind=None, denoiseMedianRadius=25, thresh=None, model_dir='data/model')

project3DTo2D(Loc3D, cam_intr)

update_model(cam_intr, denoise_ksize, force_update=False, workspace=None, save_dir='data/model')

xyzToPixel(x, y, z, cam_intr)

class kpick.apps.robotplus.halcon_pose_estimator.HaSurfaceMatcherGui(args=None, cfg_path=None, name='unnamed')

Bases: HaSurfaceMatcher, DetGuiObj

get_model(): get model

gui_process_single(rgbd, method_ind=0, filename='unnamed', disp_mode='rgb', **kwargs)

matchSurfaceAndShow(rgbd, cam_intr, disp_mode='rgb')

register_model(sensor, workspace)

kpick.apps.robotplus.halcon_pose_estimator.demo_halcon_surface_matching(cfg_path=None, default_cfg_path='configs/default.cfg', data_root=None, rgb_formats=None, depth_formats=None)

kpick.apps.robotplus.halcon_pose_estimator.get_default_args()

kpick.apps.robotplus.oi_detector module

kpick.apps.robotplus.small_copper_detector module

kpick.apps.robotplus.test_matching2d module

kpick.apps.robotplus.test_matching2d.test()

Module contents