spyrit.misc.dual_arm.KeyPoints.forward

KeyPoints.forward(kp_method: str, read_hand_kp: bool = False) → Tuple[ndarray, ndarray]

Main method to find keypoints using specified method.

Args:

kp_method: Method to use (‘hand’, ‘sift’, ‘shi-tomasi’, ‘external’). read_hand_kp: Whether to read existing hand-placed keypoints.

Returns:

Tuple of (src_points, dest_points) as numpy arrays.