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| def | __init__ (self, theParams=ParamRunner) |
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| def | calibrate (self, theImageMea, visibleMask, hTracker_BEV, option=1, verbose=False) |
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| def | clusterScore (self) |
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| def | getMeaBoard (self) |
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| def | getSolBoard (self) |
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| def | getTrackBoard (self) |
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| def | process (self, theImageMea, visibleMask, hTracker_BEV, run_solver=True, planOnTrack=False, verbose=False) |
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| def | progress (self, USE_MEASURED=True) |
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| def | setClusterBoard (self, target_board=None, mode='solution') |
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| def | setSolBoard (self, img_input, input=None) |
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◆ __init__()
◆ calibrate()
| def calibrate |
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self, |
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theImageMea, |
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visibleMask, |
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hTracker_BEV, |
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option = 1, |
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verbose = False |
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) |
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@brief To obtain the solution board from a rosbag for calibration.
Args:
theImageMea: The input image (from the surveillance system).
visibleMask: The mask image of the visible area (no hand/robot)(from the surveillance system).
hTracker_BEV: The location of the hand in the BEV.
option: The option 0 is to assemble the puzzle while option 1 is to disassemble the puzzle
◆ clusterScore()
@brief Compute the clustering score of the current tracked board.
Returns:
The clustering score.
◆ getMeaBoard()
◆ getSolBoard()
◆ getTrackBoard()
| def getTrackBoard |
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self | ) |
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◆ process()
| def process |
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self, |
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theImageMea, |
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visibleMask, |
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hTracker_BEV, |
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run_solver = True, |
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planOnTrack = False, |
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verbose = False |
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@brief Process the input from the surveillance system.
It first obtain the measured pieces, which is categorized into the solution area pieces and the working area pieces.
Then the solving plan is obtained.
Args:
theImageMea: The input image (from the surveillance system).
visibleMask: The mask image of the visible area (no hand/robot)(from the surveillance system).
hTracker_BEV: The location of the hand in the BEV.
run_solver: Run the solver or not.
planOnTrack: Plan on the tracked board or not.
verbose: If True, will display the detected measured pieces, from working or solution area.
Returns:
plan: The action plan.
◆ progress()
| def progress |
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self, |
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USE_MEASURED = True |
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@brief Check the status of the progress. (Return the ratio of the completed puzzle pieces)
Note:
It is different from the one we used for the simulator case. There is less information we have for this progress.
It is not always true when the matching is wrong/rotation is not correct. So there are some false positives.
Args:
USE_MEASURED: Use the measured board, otherwise use the tracked board.
Returns:
thePercentage: The progress.
◆ setClusterBoard()
| def setClusterBoard |
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self, |
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target_board = None, |
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mode = 'solution' |
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@brief Set up the cluster board.
Two ways to support clustering stuff:
1) Use the solution board as the cluster board. You can track the progress in this way.
2) Use any board. But only give a one-time suggestion.
Args:
mode: 'solution' or 'arbitrary', default is 'solution'.
target_board: the reference board for clustering. Can be any board at any time (does not have to be the solution one)
Returns:
◆ setSolBoard()
| def setSolBoard |
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self, |
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img_input, |
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input = None |
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@brief Set up the solution board.
Args:
input: A board/path/raw image.
◆ bClusterImage
◆ bMeasImage
◆ bSolImage
◆ bTrackImage
◆ bTrackImage_SolID
◆ meaBoard
◆ params
◆ theCalibrated
◆ theClusterBoard
◆ theManager
◆ thePlanner
◆ thePrevImage
◆ theSolver
The documentation for this class was generated from the following file:
- /home/pvela/python/puzzle_solver/puzzle/runner.py
