kuavo-humanoid-sdk 1.1.3a1252__py3-none-any.whl → 1.1.6__py3-none-any.whl

kuavo_humanoid_sdk/kuavo/robot_vision.py

@@ -1,90 +0,0 @@
-#!/usr/bin/env python3
-# coding: utf-8
-import math
-from kuavo_humanoid_sdk.common.logger import SDKLogger
-from kuavo_humanoid_sdk.interfaces.data_types import (AprilTagData)
-from kuavo_humanoid_sdk.kuavo.core.ros.vision import KuavoRobotVisionCore
-
-try:
-    from apriltag_ros.msg import AprilTagDetectionArray
-except ImportError:
-    pass
-
-class KuavoRobotVision:
-    """Vision system interface for Kuavo humanoid robot.
-    
-    Provides access to AprilTag detection data from different coordinate frames.
-    
-    """
-    
-    def __init__(self, robot_type: str = "kuavo"):
-        """Initialize the vision system.
-        
-        Args:
-            robot_type (str, optional): Robot type identifier. Defaults to "kuavo".
-        """
-        if not hasattr(self, '_initialized'):
-            self._vision_core = KuavoRobotVisionCore()
-
-    def get_data_by_id(self, target_id: int, data_source: str = "base") -> dict:
-        """Get AprilTag detection data for a specific ID from specified source.
-        
-        Args:
-            target_id (int): AprilTag ID to retrieve
-            data_source (str, optional): Data source frame. Can be "base", "camera", 
-                or "odom". Defaults to "base".
-                
-        Returns:
-            dict: Detection data containing position, orientation and metadata
-        """
-        return self._vision_core._get_data_by_id(target_id, data_source)
-    
-    def get_data_by_id_from_camera(self, target_id: int) -> dict:
-        """Get AprilTag data from camera coordinate frame.
-        
-        Args:
-            target_id (int): AprilTag ID to retrieve
-            
-        Returns:
-            dict: See get_data_by_id() for return format
-        """
-        return self._vision_core._get_data_by_id(target_id, "camera")
-    
-    def get_data_by_id_from_base(self, target_id: int) -> dict:
-        """Get AprilTag data from base coordinate frame.
-        
-        Args:
-            target_id (int): AprilTag ID to retrieve
-            
-        Returns:
-            dict: See get_data_by_id() for return format
-        """
-        return self._vision_core._get_data_by_id(target_id, "base")
-    
-    def get_data_by_id_from_odom(self, target_id: int) -> dict:
-        """Get AprilTag data from odom coordinate frame.
-        
-        Args:
-            target_id (int): AprilTag ID to retrieve
-            
-        Returns:
-            dict: See get_data_by_id() for return format
-        """
-        return self._vision_core._get_data_by_id(target_id, "odom")
-    
-    @property
-    def apriltag_data_from_camera(self) -> AprilTagData:
-        """AprilTagData: All detected AprilTags in camera frame (property)"""
-        return self._vision_core.apriltag_data_from_camera
-    
-    @property
-    def apriltag_data_from_base(self) -> AprilTagData:
-        """AprilTagData: All detected AprilTags in camera frame (property)"""
-        return self._vision_core.apriltag_data_from_base
-    
-    @property
-    def apriltag_data_from_odom(self) -> AprilTagData:
-        """AprilTagData: All detected AprilTags in camera frame (property)"""
-        return self._vision_core.apriltag_data_from_odom
-    
-