https://github.com/berkeleyautomation/line_cutting
This repository contains scripts used for the DVRK cutting experiments.
https://github.com/berkeleyautomation/line_cutting
Last synced: 2 months ago
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This repository contains scripts used for the DVRK cutting experiments.
- Host: GitHub
- URL: https://github.com/berkeleyautomation/line_cutting
- Owner: BerkeleyAutomation
- Created: 2016-05-27T05:21:54.000Z (almost 9 years ago)
- Default Branch: master
- Last Pushed: 2016-11-03T02:32:47.000Z (over 8 years ago)
- Last Synced: 2025-01-25T21:26:34.898Z (4 months ago)
- Language: Python
- Size: 5.43 MB
- Stars: 1
- Watchers: 8
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# line_cutting
This repository contains scripts used for the DVRK cutting experiments.
Files, Scripts, and Directories:
calibration_data/: contains all data collected for stereo calibration and 3d line recognition.
image_saver.py: saves images from both cameras to a directory specified in the script.
shape_tracer.py: saves 3d point in robot frame for both psm1 and psm2 (to separate files).
line_cut.py: naive implementation of the line cutting experiment with no perception
line_cut_trajectory.py: implementation of the line cutting experiment using the points in the robot frame, as well as smoothing using a Savitzky-Golay filter, and simple error correction.
demo_recorder.py: records robot demostrations to file. Note: the GUI is currently broken, so ctrl-z to exit/stop recording.
image_utils/: contains scripts and utils for using camera input to detect lines, fit surfaces, and query points in pixel space
EdgeDetection/: some edge detection code