# GraduationArmSystem
毕设-基于远程监控机械臂的透明物体检测抓取
## 说明
- 包含**服务端(命名为Server)、视觉(命名为Vision)、机械臂(命名为MCU)、图形界面(命名为godot)** 四个项目
- **服务端**:需求python3.7,详细配置参考[DREDS](https://github.com/PKU-EPIC/DREDS/tree/main/CatePoseEstimation)
- **视觉**:为ROS的节点,ros run xxx ClientVision即可,需要奥比中光在ROS平台的SDK
- **机械臂**:为MicroPython项目,基于ESP32,需要将其中必要文件用ampy上传至单片机,运行main.py即可
- **图形界面**:使用[Godot Engine](https://github.com/godotengine/godot/)的4.0.3 RC1版本开发,该引擎开源免费,支持3D、2D和全平台导出,使用类python的脚本语言或C#开发
## 注意
- 在Server\cate_pose_estimation\model中需要名为checkpoint-iter-00150000.pth的模型文件,来源于 [DREDS](https://github.com/PKU-EPIC/DREDS/tree/main/CatePoseEstimation) 作者提供的 [下载链接](https://drive.google.com/file/d/1MqUIUhJYLljnoj66mjiyq36VxZHUYQ77/view)
- 在Server\depth_restoration\model中需要名为model.pth的模型文件,来源于 [DREDS](https://github.com/PKU-EPIC/DREDS/tree/main/CatePoseEstimation) 作者提供的 [下载链接](https://mirrors.pku.edu.cn/dl-release/DREDS_ECCV2022/checkpoint/SwinDRNet/models/model.pth)
## 演示
- **整体需求**
![整体需求](demo/overall2.png)
- **工作流程与技术说明**
![工作流程与技术说明](demo/overall.png)
- **抓取演示**:
![抓取演示](demo/1.png)
- **2D BBox 视图**:
![2D BBox视图](demo/2.png)
- **位姿Box 视图**:
![位姿Box视图](demo/3.png)
- **3D空间 视图**:
![抓取演示](demo/4.png)
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毕设-基于远程监控机械臂的透明物体检测抓取.zip
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2023-09-26
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毕设-基于远程监控机械臂的透明物体检测抓取.zip
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毕设-基于远程监控机械臂的透明物体检测抓取.zip (727个子文件)
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