This repository contains the code for the OV6DP project.
This module requires Grounded SAM 2 to be installed first as the backbone for object recognition. Next, further requirements can be installed through the requirements.txt file.
Sample usage of the modules functionalities are presented in the main method of ov6dp.py. There, it is shown what the correct image format is, how to pass it into the model, and what outputs are returned.
Note, that the module expects object model files to be located in a models folder located inside this repository. This can for example be achived through a softlink to the actual model file location on your system.
For the ARMAR robot of the KIT the file armar.py contains code to execute the module on the robot.
When code is executed it should be run from the ov6dp directory.