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_sensor_info()¶

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.None¶: Bases: pybind11_object

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: TriCameraObservation

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

class trifinger_object_tracking.py_tricamera_types.TriCameraObjectTrackerDriver¶

Bases: Driver

get_debug_image(self: trifinger_object_tracking.py_tricamera_types.TriCameraObjectTrackerDriver, fill_faces: bool = False) → numpy.ndarray¶: Fetch an observation from the cameras and create a debug image.

get_observation(self: trifinger_object_tracking.py_tricamera_types.TriCameraObjectTrackerDriver) → trifinger_object_tracking.py_tricamera_types.TriCameraObjectObservation¶: Get the latest observation from the three cameras.