Sort_Mode Class Reference

Sort only puzzle solving implementation. More...

Inheritance diagram for Sort_Mode:

Collaboration diagram for Sort_Mode:

Public Member Functions
def	__init__ (self, CfgSolver cfgSolver, int policy)
	Constructor for Sort Solver instance. More...
def	display_plan (self, Imeas, sortPlan, window_name="Sort Plan", doRotate=False)
	Display the sort plan via sort zone overlay on puzzle piece. More...
def	display_solution_hint (self, Imeas, sortPlan, window_name="Solution Match", doRotate=False)
	Display the solution as pick/place vector hints. More...
def	getNextAction (self, ImageRGBD rgbd=None, StatePuzzleScene scene=None)
	Return the next action to execute from current solver state. More...
def	getSortPlan (self, ImageRGBD rgbd=None, StatePuzzleScene scene=None)
	Return the sort plan with correct piece ordering for robot to execute. More...
def	reset_solver (self)
	Reset the solver state and mode. More...
Public Member Functions inherited from Base
def	__init__ (self, CfgSolver cfgSolver)
	Constructor for the abstract base puzzle solver. More...
def	checkIDplaceability (self, solID)
	Checks if piece with solID can be placed must have an adjacent placed piece, or should be on an edge/corner. More...
def	createMeasuredBoard (self, ImageRGBD rgbd, StatePuzzleScene scene, List[int] zones)
	Take in raw inputs and create (generic) board measurement. More...
def	createSolutionBoard (self, int zone_to_match)
	Create a solution board based on the zone we want to match against. More...
def	getNextAction (self)
	Return the next action to execute from current solver state. More...
def	getSequentialPlan (self, measured_board, solution_board, numPieces)
	Generate a sequential placement plan by sorting matched pieces by solution ID. More...
def	isBoardSolved (self)
	Check if all puzzle pieces are in place. More...
def	isPieceThere (self, meaPiece, StatePuzzleScene scene)
	Check if the measured piece is actually present in the scene by analyzing the segmentation mask. More...
def	performMatching (self, Arrangement measured_board, SolutionBoard solution_board)
	Perform correspondence tracking to find a piece to direct place. More...
def	reset_estimate_board (self)
	Set the estimate board to all pieces unsolved, based on the solution board. More...
def	updateSolutionRegEstimate (self, StatePuzzleScene scene)
	Review pieces in solution region and update estimate. More...

Public Attributes
	mode
	policy
	state
	zones_to_estimate
Public Attributes inherited from Base
	board_estimate
	Board estimate from state history. More...
	cfgMatching
	Correspondences configs. More...
	correspondence_tracker
	Puzzle piece correspondence tracker. More...
	display
	Debug display. More...
	imRegions
	Region definitions for puzzle zones. More...
	mode
	Higher level mode regulating activities. More...
	puzzle_params
	Puzzle-specific parameters for arrangement building. More...
	reference_board
	Solution reference. More...
	state
	Internal activity state. More...
	verbose
	Verbosity level. More...

Static Public Attributes
int	STRUCTURED_ORDERED = 0
int	STRUCTURED_UNORDERED = 1
int	UNSTRUCTURED_ORDERED = 2
int	UNSTRUCTURED_UNORDERED = 3
Static Public Attributes inherited from Base
int	NUM_ZONES = 4
int	SOL = 5
int	UNORGANIZED = 6

Detailed Description

Sort only puzzle solving implementation.

Constructor & Destructor Documentation

__init__()

def __init__	(		self,
		CfgSolver	cfgSolver,
		int	policy
	)

Constructor for Sort Solver instance.

Parameters

[in]

cfgSolver

Configuration for the solver, including reference board and parameters.

Member Function Documentation

display_plan()

def display_plan	(		self,
			Imeas,
			sortPlan,
			window_name = "Sort Plan",
			doRotate = False
	)

Display the sort plan via sort zone overlay on puzzle piece.

Parameters

[in]	IMeas	The measured image.
[in]	sortPlan	Recovered plan.
[in]	window_name	Optional window name (default:"Sort Plan")

Note

Quick and dirty solution given that I don't know code well. 2027/07/28 - PAV.

display_solution_hint()

def display_solution_hint	(		self,
			Imeas,
			sortPlan,
			window_name = "Solution Match",
			doRotate = False
	)

Display the solution as pick/place vector hints.

Can be messy if applied to too many puzzle pieces. Either pieces should be organized in some manner, or fewer used (can be problematic). For many piece, it is better to synthesize a virtual solve puzzle image and check that it looks good.

Note

Unsure where virtual solve image creation is. We used to have it but code has changed a lot. 2027/07/29 - PAV.

Parameters

[in]	IMeas	The measured image.
[in]	sortPlan	Recovered plan.
[in]	window_name	Optional window name (default:"Solution Match")

Note

Quick and dirty solution given that I don't know code well. 2027/07/28 - PAV.

getNextAction()

def getNextAction	(		self,
		ImageRGBD	rgbd = None,
		StatePuzzleScene	scene = None
	)

Return the next action to execute from current solver state.

Parameters

[in]	rgbd	RGBD image for the current scene.
[in]	scene	Current scene state.

Returns

Action to take.

Note

Uses a two-mode state machine: PERCEIVE - handles looking (scene estimation) and sort planning. ACT - executes sort operations for pieces in the sort plan. When all pieces are sorted, ends operations.

getSortPlan()

def getSortPlan	(		self,
		ImageRGBD	rgbd = None,
		StatePuzzleScene	scene = None
	)

Return the sort plan with correct piece ordering for robot to execute.

Based on the policy set initially

Parameters

[in]	rgbd	RGBD image for the current scene.
[in]	scene	Segmented puzzle scene state.

Returns

Sort plan for the current solver policy.

reset_solver()

def reset_solver

(

self

)

Reset the solver state and mode.

Reimplemented from Base.

Member Data Documentation

mode

mode

policy

policy

state

state

STRUCTURED_ORDERED

int STRUCTURED_ORDERED = 0

static

STRUCTURED_UNORDERED

int STRUCTURED_UNORDERED = 1

static

UNSTRUCTURED_ORDERED

int UNSTRUCTURED_ORDERED = 2

static

UNSTRUCTURED_UNORDERED

int UNSTRUCTURED_UNORDERED = 3

static

zones_to_estimate

zones_to_estimate

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The documentation for this class was generated from the following file:

• /home/mary/python/puzzle_solver/puzzle/solver/sort.py