trifinger_object_tracking package¶

Submodules¶

trifinger_object_tracking.py_lightblue_segmenter module¶

trifinger_object_tracking.py_lightblue_segmenter.segment_image(image_bgr: numpy.ndarray) → numpy.ndarray¶

Segment the lightblue areas of the given image.

Parameters: image_bgr – The image in BGR colour space.
Returns: The segmentation mask.

trifinger_object_tracking.py_object_tracker module¶

class trifinger_object_tracking.py_object_tracker.BaseCuboidModel¶

Bases: pybind11_object

get_name(self: trifinger_object_tracking.py_object_tracker.BaseCuboidModel) → str¶

class trifinger_object_tracking.py_object_tracker.CubeDetector¶

Bases: pybind11_object

create_debug_image(self: trifinger_object_tracking.py_object_tracker.CubeDetector, fill_faces: bool = False) → numpy.ndarray¶

detect_cube(self: trifinger_object_tracking.py_object_tracker.CubeDetector, arg0: List[numpy.ndarray[3]]) → trifinger_object_tracking.py_object_tracker.ObjectPose¶

detect_cube_single_thread(self: trifinger_object_tracking.py_object_tracker.CubeDetector, arg0: List[numpy.ndarray[3]]) → trifinger_object_tracking.py_object_tracker.ObjectPose¶

class trifinger_object_tracking.py_object_tracker.CubeV1Model¶

Bases: BaseCuboidModel

get_name(self: trifinger_object_tracking.py_object_tracker.CubeV1Model) → str¶

class trifinger_object_tracking.py_object_tracker.CubeV2Model¶: Bases: BaseCuboidModel

class trifinger_object_tracking.py_object_tracker.CubeV3Model¶: Bases: BaseCuboidModel

class trifinger_object_tracking.py_object_tracker.Cuboid2x2x8V2Model¶: Bases: BaseCuboidModel

class trifinger_object_tracking.py_object_tracker.Data¶: Bases: pybind11_object

class trifinger_object_tracking.py_object_tracker.FakeBackend¶

Bases: pybind11_object

stop(self: trifinger_object_tracking.py_object_tracker.FakeBackend) → None¶

store_buffered_data(self: trifinger_object_tracking.py_object_tracker.FakeBackend, arg0: str) → None¶

class trifinger_object_tracking.py_object_tracker.Frontend¶

Bases: pybind11_object

get_current_pose(self: trifinger_object_tracking.py_object_tracker.Frontend) → trifinger_object_tracking.py_object_tracker.ObjectPose¶

get_current_timeindex(self: trifinger_object_tracking.py_object_tracker.Frontend) → int¶

get_oldest_timeindex(self: trifinger_object_tracking.py_object_tracker.Frontend) → int¶

get_pose(self: trifinger_object_tracking.py_object_tracker.Frontend, arg0: int) → trifinger_object_tracking.py_object_tracker.ObjectPose¶

get_timestamp_ms(self: trifinger_object_tracking.py_object_tracker.Frontend, arg0: int) → float¶

has_observations(self: trifinger_object_tracking.py_object_tracker.Frontend) → bool¶

wait_until_timeindex(self: trifinger_object_tracking.py_object_tracker.Frontend, arg0: int) → None¶

class trifinger_object_tracking.py_object_tracker.ObjectPose¶

Bases: pybind11_object

property confidence¶: Confidence measure of the object tracker. Between 0 and 1.

property orientation¶: Orientation quaternion (x, y, z, w) in the world frame.

property position¶: Position (x, y, z) in the world frame.

class trifinger_object_tracking.py_object_tracker.SimulationBackend¶

Bases: pybind11_object

stop(self: trifinger_object_tracking.py_object_tracker.SimulationBackend) → None¶

store_buffered_data(self: trifinger_object_tracking.py_object_tracker.SimulationBackend, arg0: str) → None¶

trifinger_object_tracking.py_object_tracker.create_trifingerpro_cube_detector(arg0: trifinger_object_tracking.py_object_tracker.BaseCuboidModel) → trifinger_object_tracking.py_object_tracker.CubeDetector¶: Create a CubeDetector for TriFingerPro robot, automatically loading the local camera calibration.

trifinger_object_tracking.py_object_tracker.get_model_by_name(arg0: str) → trifinger_object_tracking.py_object_tracker.BaseCuboidModel¶: Get object model based on its name.

trifinger_object_tracking.py_tricamera_types module¶

class trifinger_object_tracking.py_tricamera_types.Backend¶

Bases: pybind11_object

shutdown()¶

class trifinger_object_tracking.py_tricamera_types.BaseData¶: Bases: pybind11_object

class trifinger_object_tracking.py_tricamera_types.CubeVisualizer¶

Bases: pybind11_object

draw_circle(self: trifinger_object_tracking.py_tricamera_types.CubeVisualizer, images: List[numpy.ndarray[3]], object_pose: trifinger_object_tracking.py_object_tracker.ObjectPose, fill: bool = True, opacity: float = 0.5, scale: float = 1.0) → List[numpy.ndarray[3]]¶

draw_cube(self: trifinger_object_tracking.py_tricamera_types.CubeVisualizer, images: List[numpy.ndarray[3]], object_pose: trifinger_object_tracking.py_object_tracker.ObjectPose, fill: bool = True, opacity: float = 0.5) → List[numpy.ndarray[3]]¶

class trifinger_object_tracking.py_tricamera_types.Driver¶: Bases: pybind11_object

class trifinger_object_tracking.py_tricamera_types.Frontend¶

Bases: pybind11_object

get_current_timeindex()¶

get_latest_observation()¶

get_observation()¶

get_timestamp_ms()¶

class trifinger_object_tracking.py_tricamera_types.LogReader(filename: str)¶

Bases: pybind11_object

See read_file()

property data¶: List of camera observations from the log file.

read_file(filename: str)¶

Read data from the specified camera log file.

The data is stored in data and timestamps.

Parameters: filename (str) – Path to the camera log file.

property timestamps¶: List of timestamps of the camera observations.

class trifinger_object_tracking.py_tricamera_types.Logger¶

Bases: pybind11_object

reset()¶

start()¶

stop()¶

stop_and_save()¶

class trifinger_object_tracking.py_tricamera_types.MultiProcessData¶: Bases: BaseData

class trifinger_object_tracking.py_tricamera_types.PyBulletTriCameraObjectTrackerDriver¶

Bases: Driver

get_observation(self: trifinger_object_tracking.py_tricamera_types.PyBulletTriCameraObjectTrackerDriver) → trifinger_object_tracking.py_tricamera_types.TriCameraObjectObservation¶

class trifinger_object_tracking.py_tricamera_types.SingleProcessData¶: Bases: BaseData

class trifinger_object_tracking.py_tricamera_types.TriCameraObjectObservation¶

Bases: pybind11_object

Observation from the three cameras, including the estimated object pose provided by the integrated object tracker.

property cameras¶

List of observations from cameras ‘camera60’, ‘camera180’ and ‘camera300’ (in this order)

Type: List[CameraObservation]

property filtered_object_pose¶

Filtered estimated object pose.

Type: ObjectPose

property object_pose¶

Estimated object pose.

Type: ObjectPose

trifinger_object_tracking package¶

Submodules¶

trifinger_object_tracking.py_lightblue_segmenter module¶

trifinger_object_tracking.py_object_tracker module¶

trifinger_object_tracking.py_tricamera_types module¶

Module contents¶