Obtain orientation of a textured cylinder

Nizaro / soft_robot_manipulator

3D perception for the control of a soft robot manipulator

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Obtain orientation of a textured cylinder #1

Open Nizaro opened 1 year ago

Nizaro commented 1 year ago

extract data from capture3D

[x] Record data with capture3D and save ply
[x] Find a ply library for python to extract RGBD data from colored ply
[x] Make segmentation based on color
[x] Compute 3D orientation based 3D point cloud
[ ] Estimation of the error of measurement.

AnselmeLeo commented 1 year ago

-3D data are handled and displayed using open3d -The orientation is extracted by concidering the point cloud as a line and computing two planar linear regression

Possible improvement -> remove the end caps as it provide assymetric data -> recalculate the centerline of the cylindre (currently the centerline of sample data)