robotics_toolbox.utils.perception.find_hoop_homography

robotics_toolbox.utils.perception.find_hoop_homography(images, hoop_positions)

Find homography based on images containing the hoop and the hoop positions loaded from the hoop_positions.json file in the following format:

[{

“RPY”: [-0.0005572332585040621, -3.141058227474627, 0.0005185830258253442], “translation_vector”: [0.5093259019899434, -0.17564068853313258, 0.04918733225140541]

}, {

“RPY”: [-0.0005572332585040621, -3.141058227474627, 0.0005185830258253442], “translation_vector”: [0.5093569397977782, -0.08814069881074972, 0.04918733225140541]

},

]

Parameters:

• images (_SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes])

• hoop_positions (List[dict])

Return type:

ndarray