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vocdex / digit-depth

Package for DIGIT tactile sensor
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About Estimating object pose using digit sensor #7

Open canhe173 opened 1 year ago

canhe173 commented 1 year ago

Hi, I am glad to have discovered an open-source work that uses a digit tactile sensor to estimate the pose of objects, but I have not found any code related to "Estimating object pose by fitting an ellipse (PCA and OpenCV)". I would like to ask which file it is specifically.

vocdex commented 1 year ago

Please refer to depth.py in scripts folder. It contains an option to fit an ellipse to contact area based on the depth image (like in the README) . Be sure to check it is set to true in configs file

RobotEmperor commented 1 year ago

Hi Vocdex, Firstly, thank you for sharing the codes. I tried to implement the estimating object pose example code, and it worked well if I checked true in the ellipse in the configs file. However, I want to see the only depth image without the ellipse like the right picture. How can I implement it?

vocdex commented 1 year ago

By setting visualize.ellipse value to False, you can see the depth image without any ellipse. Please try setting this to False here