HiveCoreRD/hivecore_robot_vision
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This commit is contained in:
liangyuxuan
2025-11-27 17:26:28 +08:00
parent 164a764f96
commit 57f7aacff0
1 changed files with 3 additions and 3 deletions
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6
vision_detect/vision_detect/VisionDetect/utils/object_icp.py
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@@ -1,6 +1,6 @@
import numpy as np
import open3d as o3d
from typing import Union
from typing import Union, List, Tuple
def _draw_pointcloud(pcd, T):
@@ -82,8 +82,8 @@ def object_icp(
target: o3d.geometry.PointCloud,
source: Union[o3d.geometry.PointCloud, str],
ransac_voxel_size: float = 0.005,
icp_voxel_radius: Union[list[float], tuple[float], None] = (0.004, 0.002, 0.001),
icp_max_iter: Union[list[int], tuple[int], None] = (50, 30, 14),
icp_voxel_radius: Union[List[float], Tuple[float, ...], None] = (0.004, 0.002, 0.001),
icp_max_iter: Union[List[int], Tuple[int, ...], None] = (50, 30, 14),
):
if isinstance(source, str):
source = o3d.io.read_point_cloud(source)