Functions | |
| def | plot |
| plot 3D points connected to each other | |
| def | plot_cuboid |
| Plot a yellow cuboid. | |
| def | plot_normals |
| Use mayavi2 to plot normals, and curvature of a point cloud. | |
| def | plot_points |
| plot 3D points as a cloud. | |
| def | savefig |
| save plot as a png | |
| def | show |
| show the plot. | |
| def | white_bg |
| make a figure with a white background. | |
Variables | |
| list | color_list |
| string | dest = 'max_pan_angle' |
| tuple | dict = ut.load_pickle(dict_pkl_fname) |
| dict_pkl_fname = opt.dict_pkl | |
| tuple | dist_mat = ut.norm(pts) |
| string | help = 'pkl file with 3D points' |
| tuple | idxs = np.where(dist_mat<max_dist) |
| max_dist = opt.max_dist | |
| max_pan_angle = opt.max_pan_angle | |
| tuple | p = optparse.OptionParser() |
| tuple | pts = ut.load_pickle(pts_pkl_fname) |
| pts_pkl_fname = opt.pts_pkl | |
| save_cloud_flag = opt.save_cloud | |
| def hrl_tilting_hokuyo.display_3d_mayavi.plot | ( | pts, | |
color = (1.,1., |
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scalar_list = None |
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| ) |
plot 3D points connected to each other
Check mlab.points3d documentation for details.
| pts | - 3xN numpy matrix of points. |
| color | - 3 tuple of color. (float b/w 0 and 1) |
| mode | - how to display the points ('point','sphere','cube' etc.) |
| scale_fator | - controls size of the spheres. not sure what it means. |
Definition at line 64 of file display_3d_mayavi.py.
| def hrl_tilting_hokuyo.display_3d_mayavi.plot_cuboid | ( | corner_tups | ) |
Plot a yellow cuboid.
cuboid is defined by 12 tuples of corners that define the 12 edges, as returned by occupancy_grig.grid_lines() function.
Definition at line 126 of file display_3d_mayavi.py.
| def hrl_tilting_hokuyo.display_3d_mayavi.plot_normals | ( | pts, | |
| normals, | |||
curvature = None, |
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mask_points = 1, |
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color = (0.,1., |
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scale_factor = 0.1 |
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| ) |
Use mayavi2 to plot normals, and curvature of a point cloud.
| pts | - 3xN np matrix |
| normals | - 3xN np matrix of surface normals at the points in pts. |
| curvature | - list of curvatures. |
| mask_points | - how many point to skip while drawint the normals |
| color | - of the arrows |
| scale_factor | - modulate size of arrows. |
Surface normals are plotted as arrows at the pts, curvature is colormapped and shown as spheres. The radius of the sphere also indicates the magnitude of the curvature. If curvature is None then it is not plotted. The pts are then displayed as pixels.
Definition at line 100 of file display_3d_mayavi.py.
| def hrl_tilting_hokuyo.display_3d_mayavi.plot_points | ( | pts, | |
color = (1.,1., |
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mode = 'point', |
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scale_factor = 0.01, |
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scalar_list = None |
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| ) |
plot 3D points as a cloud.
Check mlab.points3d documentation for details.
| pts | - 3xN numpy matrix of points. |
| color | - 3 tuple of color. (float b/w 0 and 1) |
| mode | - how to display the points ('point','sphere','cube' etc.) |
| scale_fator | - controls size of the spheres. not sure what it means. |
Definition at line 80 of file display_3d_mayavi.py.
| def hrl_tilting_hokuyo.display_3d_mayavi.savefig | ( | name, | |
| size | |||
| ) |
save plot as a png
| name | - file name size - (r,c) e.g. (1024, 768) |
Definition at line 54 of file display_3d_mayavi.py.
show the plot.
call this function after plotting everything.
Definition at line 136 of file display_3d_mayavi.py.
make a figure with a white background.
Definition at line 47 of file display_3d_mayavi.py.
00001 [(1.,1.,1.),(1.,0.,0.),(0.,1.,0.),(0.,0.,1.),(1.,1.,0.),(1.,0.,1.),\ 00002 (0.,1.,1.),(0.5,1.,0.5),(1.,0.5,0.5)]
Definition at line 40 of file display_3d_mayavi.py.
Definition at line 151 of file display_3d_mayavi.py.
Definition at line 169 of file display_3d_mayavi.py.
| hrl_tilting_hokuyo::display_3d_mayavi::dict_pkl_fname = opt.dict_pkl |
Definition at line 160 of file display_3d_mayavi.py.
Definition at line 180 of file display_3d_mayavi.py.
| string hrl_tilting_hokuyo::display_3d_mayavi::help = 'pkl file with 3D points' |
Definition at line 145 of file display_3d_mayavi.py.
| tuple hrl_tilting_hokuyo::display_3d_mayavi::idxs = np.where(dist_mat<max_dist) |
Definition at line 181 of file display_3d_mayavi.py.
Definition at line 163 of file display_3d_mayavi.py.
| hrl_tilting_hokuyo::display_3d_mayavi::max_pan_angle = opt.max_pan_angle |
Definition at line 162 of file display_3d_mayavi.py.
| tuple hrl_tilting_hokuyo::display_3d_mayavi::p = optparse.OptionParser() |
Definition at line 142 of file display_3d_mayavi.py.
Definition at line 166 of file display_3d_mayavi.py.
| hrl_tilting_hokuyo::display_3d_mayavi::pts_pkl_fname = opt.pts_pkl |
Definition at line 159 of file display_3d_mayavi.py.
| hrl_tilting_hokuyo::display_3d_mayavi::save_cloud_flag = opt.save_cloud |
Definition at line 161 of file display_3d_mayavi.py.