spyrit.misc.dual_arm.ComputeHomography.forward

ComputeHomography.forward(kp_method: str, homo_folder: str = '', read_homography: bool = False, save_homography: bool = True, read_hand_kp: bool = False, snapshot: bool = True, show_calib: bool = False) → Tensor

Compute the homography between the CMOS and single pixel cameras.

Args:

kp_method: Keypoint detection method (‘sift’, ‘hand’ or ‘external’). homo_folder: Folder for homography data. read_homography: Whether to load existing homography. save_homography: Whether to save computed homography. read_hand_kp: Whether to read existing hand-placed keypoints. snapshot: Whether to use a snapshot or a video for the CMOS data. show_calib: Whether to show calibration visualization.

Returns:

Computed homography matrix as torch tensor.