test_on_PR2_try4 Namespace Reference

Functions
def	create_default_scan_dataset
def	define_ROI_polygons
	MAKE SURE THAT THESE MATCH ORIGINAL TAKE: CROP CAMERA IMAGE TO RIO.
def	show_image
Variables
tuple	ac = acquire_pr2_data.AcquireCloud()
	CalibrationVisual = True
tuple	cfg = configuration.configuration(DATA_LOCATION, ROBOT)
	CHANGE THIS TO THE DIRECTORY WITH RESULTS FROM CODY: change 'codyRobot' to 'dummyScanner' or code tries to find camera drivers, etc.
	colors = pc.map_polys
tuple	crop_region = (0.3,0.3,0.3,0.3)
tuple	data = np.asarray(pc.pts3d_bound)
tuple	data_idx = np.where(np.asarray(pc.map_polys) == processor.LABEL_SURFACE)
string	DATA_LOCATION = '/home/jokerman/Desktop/PR2/'
string	DATASET_ID = 'pr2_example_0003'
	displayOn = True
tuple	feature_data = pc.generate_features(NUMBER_OF_POINTS,False, True)
string	filename = 'data/'
	h = image_size.height
tuple	image_size = cv.cvGetSize(pc.img)
	pc.map = (pc.camPts_bound, pc.camPts, pc.idx_list, pc.pts3d_bound,pc.scan_indices_bound, pc.intensities_bound)
	IS_LABELED = True
string	MODE = 'all_post'
tuple	N = len(idx_list)
tuple	Nbound = len( idx_list[idx_list] )
int	NUMBER_OF_POINTS = 3500
float	object_height = 0.1
	Placement routine.
tuple	overlay_img = pc.draw_mapped_laser_into_image(None, pc.pts3d, pc.img)
tuple	pc = processor.processor(cfg)
tuple	pl = Placement(pc, resolution)
	object_height = 0.1
tuple	placement_point = pl.test_placement(polygon, object_height)
	REPLACE WITH MY OWN CLASS DEFINITION WITH FUNCTIONs.
tuple	polygon = label_object()
tuple	polygon_labels = list(1 for x in range(m))
	pc.display_3d('labels')###
tuple	pub = rospy.Publisher('labeled_cloud', PointCloud)
list	resolution = [.01*SCALE, .01*SCALE]
string	ROBOT = 'PR2'
	SAVE_INTENSITY_IMAGE = False
	SAVE_UNUSED_NEIGHBORS_TO = False
	pc.display_all_data()###
int	SCALE = 1
	SHOW_IN_ROS = True
	previously 1000, False,True
tuple	table_height = np.mean(data, axis=1)
	USE_POLYGONS = True
	w = image_size.width
int	z_above_floor = 0

---

Function Documentation

def test_on_PR2_try4.create_default_scan_dataset	(		unique_id = DATASET_ID,
			z_above_floor = 1.32
	)

Definition at line 89 of file test_on_PR2_try4.py.

def test_on_PR2_try4.define_ROI_polygons	(		w,
			h,
			crop_regions
	)

MAKE SURE THAT THESE MATCH ORIGINAL TAKE: CROP CAMERA IMAGE TO RIO.

# Create dummy edges for placement
# Note this assumes we will be using a SQUARE region of interest -- not true in general.
Usage: 
    w = image_size.width; h = image_size.height
    crop_region = (0.2,0.1,.2,.1) # % to crop left, crop right, crop top, crop bot
    surface_ROI, list_of_edges = define_ROI_polygons(w, h, crop_region) 
    pc.scan_dataset.polygons.append(surface_ROI)
    for p in list_of_edges: pc.scan_dataset.polygons.append(p)

Definition at line 109 of file test_on_PR2_try4.py.

def test_on_PR2_try4.show_image	(		window_name,
			img,
			wait = False
	)

Definition at line 145 of file test_on_PR2_try4.py.

---

Variable Documentation

tuple test_on_PR2_try4::ac = acquire_pr2_data.AcquireCloud()

Definition at line 179 of file test_on_PR2_try4.py.

test_on_PR2_try4::CalibrationVisual = True

Definition at line 78 of file test_on_PR2_try4.py.

tuple test_on_PR2_try4::cfg = configuration.configuration(DATA_LOCATION, ROBOT)

CHANGE THIS TO THE DIRECTORY WITH RESULTS FROM CODY: change 'codyRobot' to 'dummyScanner' or code tries to find camera drivers, etc.

Definition at line 158 of file test_on_PR2_try4.py.

test_on_PR2_try4::colors = pc.map_polys

Definition at line 308 of file test_on_PR2_try4.py.

tuple test_on_PR2_try4::crop_region = (0.3,0.3,0.3,0.3)

Definition at line 212 of file test_on_PR2_try4.py.

tuple test_on_PR2_try4::data = np.asarray(pc.pts3d_bound)

Definition at line 319 of file test_on_PR2_try4.py.

tuple test_on_PR2_try4::data_idx = np.where(np.asarray(pc.map_polys) == processor.LABEL_SURFACE)

Definition at line 318 of file test_on_PR2_try4.py.

string test_on_PR2_try4::DATA_LOCATION = '/home/jokerman/Desktop/PR2/'

Definition at line 63 of file test_on_PR2_try4.py.

string test_on_PR2_try4::DATASET_ID = 'pr2_example_0003'

Definition at line 62 of file test_on_PR2_try4.py.

test_on_PR2_try4::displayOn = True

Definition at line 82 of file test_on_PR2_try4.py.

tuple test_on_PR2_try4::feature_data = pc.generate_features(NUMBER_OF_POINTS,False, True)

Definition at line 274 of file test_on_PR2_try4.py.

string test_on_PR2_try4::filename = 'data/'

Definition at line 329 of file test_on_PR2_try4.py.

test_on_PR2_try4::h = image_size.height

Definition at line 211 of file test_on_PR2_try4.py.

tuple test_on_PR2_try4::image_size = cv.cvGetSize(pc.img)

pc.map = (pc.camPts_bound, pc.camPts, pc.idx_list, pc.pts3d_bound,pc.scan_indices_bound, pc.intensities_bound)

Definition at line 209 of file test_on_PR2_try4.py.

test_on_PR2_try4::IS_LABELED = True

Definition at line 75 of file test_on_PR2_try4.py.

string test_on_PR2_try4::MODE = 'all_post'

Definition at line 80 of file test_on_PR2_try4.py.

tuple test_on_PR2_try4::N = len(idx_list)

Definition at line 187 of file test_on_PR2_try4.py.

tuple test_on_PR2_try4::Nbound = len( idx_list[idx_list] )

Definition at line 188 of file test_on_PR2_try4.py.

int test_on_PR2_try4::NUMBER_OF_POINTS = 3500

Definition at line 73 of file test_on_PR2_try4.py.

float test_on_PR2_try4::object_height = 0.1

Placement routine.

Definition at line 360 of file test_on_PR2_try4.py.

tuple test_on_PR2_try4::overlay_img = pc.draw_mapped_laser_into_image(None, pc.pts3d, pc.img)

Definition at line 236 of file test_on_PR2_try4.py.

tuple test_on_PR2_try4::pc = processor.processor(cfg)

Definition at line 159 of file test_on_PR2_try4.py.

tuple test_on_PR2_try4::pl = Placement(pc, resolution)

object_height = 0.1

Definition at line 372 of file test_on_PR2_try4.py.

tuple test_on_PR2_try4::placement_point = pl.test_placement(polygon, object_height)

REPLACE WITH MY OWN CLASS DEFINITION WITH FUNCTIONs.

Definition at line 375 of file test_on_PR2_try4.py.

tuple test_on_PR2_try4::polygon = label_object()

Definition at line 364 of file test_on_PR2_try4.py.

tuple test_on_PR2_try4::polygon_labels = list(1 for x in range(m))

pc.display_3d('labels')###

Definition at line 258 of file test_on_PR2_try4.py.

tuple test_on_PR2_try4::pub = rospy.Publisher('labeled_cloud', PointCloud)

Definition at line 303 of file test_on_PR2_try4.py.

list test_on_PR2_try4::resolution = [.01*SCALE, .01*SCALE]

Definition at line 362 of file test_on_PR2_try4.py.

string test_on_PR2_try4::ROBOT = 'PR2'

Definition at line 61 of file test_on_PR2_try4.py.

test_on_PR2_try4::SAVE_INTENSITY_IMAGE = False

Definition at line 77 of file test_on_PR2_try4.py.

test_on_PR2_try4::SAVE_UNUSED_NEIGHBORS_TO = False

pc.display_all_data()###

Definition at line 270 of file test_on_PR2_try4.py.

int test_on_PR2_try4::SCALE = 1

Definition at line 74 of file test_on_PR2_try4.py.

test_on_PR2_try4::SHOW_IN_ROS = True

previously 1000, False,True

pc.display_3d('all')### Labels are now generated --> can be saved to file? pc.display_3d('baseline')###

Definition at line 299 of file test_on_PR2_try4.py.

tuple test_on_PR2_try4::table_height = np.mean(data, axis=1)

Definition at line 320 of file test_on_PR2_try4.py.

test_on_PR2_try4::USE_POLYGONS = True

Definition at line 76 of file test_on_PR2_try4.py.

test_on_PR2_try4::w = image_size.width

Definition at line 210 of file test_on_PR2_try4.py.

int test_on_PR2_try4::z_above_floor = 0

Definition at line 64 of file test_on_PR2_try4.py.