lacing_vision

Vision code for Robotic Lacing project

To reference in GH via compas.RPC Proxy object:

1. Install to your environment using:

   (yourCondaEnv) ~YourGitHubRepo/lacing_vision/src>pip install -e .
   (yourCondaEnv) >python -m compas_rhino.install -p lacing_vision
   
   ---for Rhino 7---
   (yourCondaEnv) >python -m compas_rhino.install -p lacing_vision -v 7.0
   

2. Create a GH python component with code such as:

    import compas
    import compas_rhino
    import rhinoscriptsyntax as rs
   
    from compas_rhino.geometry import RhinoPlane
    from abb_communication.clients.rfl_robot.communication.messages.messagetypes import *
    from compas.rpc import Proxy
   
    points = []
   
    if start:
        with Proxy('lacing_vision') as camera:
            planePt, planeNorm, pts = camera.find_corners()
        
            print planePt
            print planeNorm
            print pts
   
            for pt in pts:
                points.append(rs.CreatePoint(pt))
   
            plane = rs.PlaneFromNormal(planePt, planeNorm)
            camera_compas_frame = RhinoPlane.from_geometry(plane).to_compas()