"The 'segment_anything' folder is missing

[Chenyang0124]

Hello, I've noticed that there is no Python file in the directory asar_hqp_endoscope-main\interact_seg_track_ros\segment-anything. However, the main.py script references libraries from this folder, which is causing the project to fail. Could you please provide the contents of this folder? It appears to be missing and is essential for the project to run properly. Thank you ![Uploading 屏幕截图 2024-10-13 153825.png…]()

[husikl]

Hello!

I've implemented a standalone package called ist_ros, which you can find here: ist_ros GitHub repository. This package will be updated, with a focus on CoppeliaSim-based simulation to demonstrate the HQP-based control.

To use the interact_seg_track_ros package, you'll need to install the segment-anything library from Facebook Research's repository. However, I recommend trying the ist_ros package, as it offers the same performance but with a better GUI and improved documentation.

I'll be restructuring interact_seg_track_ros soon. The main difference between the two packages is that ist_ros publishes image masks and barycenters as NumPy arrays for easier data extraction, whereas interact_seg_track_ros publishes a PoseArray for tool tracking, where:

• geometry_msgs/Pose p: x and y correspond to the pixel position, and z corresponds to the minimum enclosing circle radius.
• p.orientation.x can take values 1 or -1 to differentiate cases when the tool is temporarily lost.

Additionally, interact_seg_track_ros includes an ROI estimator in dynamic_roi.py to estimate how to position the endoscopic camera based on the ROI's center. You can see more details in the paper. I'll be providing documentation for this package soon. Let me know if you have any further questions!