py3dcal 1.0.5__py3-none-any.whl

py3DCal/data_collection/sensors/GelsightMini/GelsightMini.py

@@ -0,0 +1,45 @@
+from ..Sensor import Sensor
+import cv2
+import os
+
+try:
+    import gsdevice
+except:
+    pass
+
+
+class GelsightMini(Sensor):
+    """
+    GelsightMini: A Sensor Class for the GelSight Mini sensor
+    """
+    def __init__(self):
+        self.name = "GelSight Mini"
+        self.x_offset = 108
+        self.y_offset = 110
+        self.z_offset = 67
+        self.z_clearance = 2
+        self.max_penetration = 3.5
+        self.default_calibration_file = os.path.join(os.path.dirname(os.path.abspath(__file__)), "default.csv")
+
+    def connect(self):
+        """
+        Connects to the GelSight Mini sensor.
+        """
+        # Code to connect to the sensor
+        self.sensor = gsdevice.Camera("GelSight Mini")
+        self.sensor.connect()
+        
+    def disconnect(self):
+        """
+        Disconnects from the GelSight Mini sensor.
+        """
+        # Code to disconnect from the sensor
+        self.sensor.stop_video()
+
+    def capture_image(self):
+        """
+        Captures an image from the GelSight Mini sensor.
+        """
+        # Code to return an image from the sensor
+        image = cv2.cvtColor(self.sensor.get_image(), cv2.COLOR_BGR2RGB)
+        return cv2.flip(image, 1)