robits.app package

Interactive applications for the RoBits framework.

This package provides user interface applications for interacting with robots, cameras, and other components of the RoBits system. These applications use terminal-based UI libraries to provide graphical interfaces that work in both terminal and GUI environments.

Components:

robot_app: An interactive TUI for controlling robot arms
extrinsics_app: An application for calibrating camera extrinsics

Submodules

robits.app.extrinsics_app module

App for extrinsic calibration

class robits.app.extrinsics_app.CameraCalibrationApp(viewer: SimplePCDViewer)

Bases: App

compose() → Iterable[Widget]

Yield child widgets for a container.

This method should be implemented in a subclass.

draw_registration_result(source, target, transformation)

estimate_transformation()

get_transformation() → ndarray

on_button_pressed(message: Pressed) → None

on_mount()

on_shutdown()

on_slider_changed(message: Changed) → None

save_camera_calibration(selected_camera)

update_sliders(extrinsics)

class robits.app.extrinsics_app.SimplePCDViewer

Bases: object

apply_transformation(transformation: ndarray) → None

Apply a transformation matrix to the current point cloud.

Parameters:: transformation – the transformation to apply

get_table()

run() → None: Start the Open3D viewer in a separate thread.

show_table()

stop() → None: Stop the Open3D viewer.

update_point_cloud(camera) → None: Get a new point clodu from the camera :param camera: the camera to retrieve the point cloud from