Functions
def	calc_normal
	calculate normal to a group of points
def	combine_scan_and_image
	Combines a point cloud with an intensity image.
def	combine_scan_and_image_laser_frame
	Combines a point cloud with an intensity image.
def	indices_of_points_in_frame
	give indices of 2d points that are in the image frame
def	local_window
	Given a 2d location and a window size, cut out a square of intensity values, returns (winsize*winsize)x1 array in range [0,1] just use local template image.
def	select_rect
	Given a group of points, select the ones within rectangular volume.
def	select_volume
	Given a group of points and rectangular limits return points within limits.

Function Documentation

def hrl_opencv.image3d.calc_normal	(	points3d,
		p = `np.matrix([-1,0`,
		T
	)

calculate normal to a group of points

Parameters:

points3d	3d points 3xn matrix
p	direction to return normals wrt

Definition at line 14 of file image3d.py.

def hrl_opencv.image3d.combine_scan_and_image	(	points_in_image_frame,
		imagea,
		cal_obj
	)

Combines a point cloud with an intensity image.

Parameters:

points_in_image_frame	3d points in image frame
imagea	numpy image (ex: np.asarray(cvimage))
cal_obj	camera calibration object

Returns:: 3xn int matrix of 3d points that are visible in the camera's frame; 3xn int matrix of rgb values of those points in range [0,1]

Definition at line 113 of file image3d.py.

def hrl_opencv.image3d.combine_scan_and_image_laser_frame	(	points_in_laser_frame,
		image_T_laser,
		image,
		cal_obj
	)

Combines a point cloud with an intensity image.

Parameters:

points_in_laser_frame	3d points in laser frame
image	numpy image (ex: np.asarray(cvimage))
cal_obj	camera calibration object

Returns:: 3xn int matrix of 3d points that are visible in the camera's frame; 3xn int matrix of rgb values of those points in range [0,1]

Definition at line 101 of file image3d.py.

def hrl_opencv.image3d.indices_of_points_in_frame	(	points,
		cal_obj
	)

give indices of 2d points that are in the image frame

Parameters:

points	2xn matrix of 2d points
cal_obj	calibration object

Definition at line 31 of file image3d.py.

def hrl_opencv.image3d.local_window	(	location,
		bw_image,
		winsize,
		resize_to = `None`,
		flatten = `True`
	)

Given a 2d location and a window size, cut out a square of intensity values, returns (winsize*winsize)x1 array in range [0,1] just use local template image.

Parameters:

location
bw_image
winsize
resize_to
flatten	whether to return a flat 1 column mat or the 3d matrix of pixels

Definition at line 46 of file image3d.py.

def hrl_opencv.image3d.select_rect	(	center,
		w,
		h,
		depth,
		points
	)

Given a group of points, select the ones within rectangular volume.

Parameters:

center
w
h
depth
points	3xn mat

Definition at line 135 of file image3d.py.

def hrl_opencv.image3d.select_volume	(	limits,
		points
	)

Given a group of points and rectangular limits return points within limits.

Parameters:

limits	[[xmin, xmax], [ymin, ymax], [...]]
points	3xn mat

Definition at line 147 of file image3d.py.

Functions

Function Documentation