Classes | |
| class | occupancy_grid_3d |
| class which implements the occupancy grid More... | |
Functions | |
| def | subtract |
| subtract occupancy grids. | |
Variables | |
| tuple | cloud = pu.CubeCloud(grid_pts,(0,0,0),(resolution/2).A1.tolist()) |
| print grid_pts | |
| tuple | dict = ut.load_pickle(pkl_file_name) |
| tuple | gr |
| tuple | grid_pts = gr.grid_to_centroids() |
| string | help = 'file.pkl File with the scan,pos dict.' |
| list | l1 = dict['l1'] |
| list | l2 = dict['l2'] |
| tuple | lc = pu.LineCloud(gr.grid_lines(),(100,100,0)) |
| tuple | max_angle = math.radians(40) |
| tuple | min_angle = math.radians(-40) |
| tuple | p = optparse.OptionParser() |
| tuple | pc = pu.PointCloud(pts,(100,100,100)) |
| pkl_file_name = opt.pkl_file_name | |
| list | pos_list = dict['pos_list'] |
| tuple | pts = ut.load_pickle(pts_pkl) |
| pts_pkl = opt.pts_pkl | |
| tuple | resolution = np.matrix([0.01,0.01,0.01]) |
| print gr.grid | |
| list | scan_list = dict['scan_list'] |
| tuple | t0 = time.time() |
| tuple | t1 = time.time() |
| def hrl_tilting_hokuyo.occupancy_grid_3d.subtract | ( | og1, | |
| og2 | |||
| ) |
subtract occupancy grids.
og1 = og1-og2
| og1 | - occupancy_grid_3d object. |
| og2 | - occupancy_grid_3d object. |
will position og2 at an appropriate location within og1 (hopefully) will copy points in og2 but not in og1 into og1
points corresponding to the gird cells whose occupancy drops to zero will still be in grid_points_list UNTESTED: * subtracting grids of different sizes. * how the rotation_z of the occupancy grid will affect things.
Definition at line 53 of file occupancy_grid_3d.py.
| tuple hrl_tilting_hokuyo::occupancy_grid_3d::cloud = pu.CubeCloud(grid_pts,(0,0,0),(resolution/2).A1.tolist()) |
print grid_pts
Definition at line 606 of file occupancy_grid_3d.py.
Definition at line 581 of file occupancy_grid_3d.py.
00001 occupancy_grid_3d(np.matrix([0.45,-0.5,-1.0]).T, np.matrix([0.65,0.05,-0.2]).T, 00002 resolution)
Definition at line 574 of file occupancy_grid_3d.py.
| tuple hrl_tilting_hokuyo::occupancy_grid_3d::grid_pts = gr.grid_to_centroids() |
Definition at line 604 of file occupancy_grid_3d.py.
| string hrl_tilting_hokuyo::occupancy_grid_3d::help = 'file.pkl File with the scan,pos dict.' |
Definition at line 557 of file occupancy_grid_3d.py.
Definition at line 587 of file occupancy_grid_3d.py.
Definition at line 588 of file occupancy_grid_3d.py.
| tuple hrl_tilting_hokuyo::occupancy_grid_3d::lc = pu.LineCloud(gr.grid_lines(),(100,100,0)) |
Definition at line 608 of file occupancy_grid_3d.py.
| tuple hrl_tilting_hokuyo::occupancy_grid_3d::max_angle = math.radians(40) |
Definition at line 585 of file occupancy_grid_3d.py.
| tuple hrl_tilting_hokuyo::occupancy_grid_3d::min_angle = math.radians(-40) |
Definition at line 584 of file occupancy_grid_3d.py.
| tuple hrl_tilting_hokuyo::occupancy_grid_3d::p = optparse.OptionParser() |
Definition at line 554 of file occupancy_grid_3d.py.
| tuple hrl_tilting_hokuyo::occupancy_grid_3d::pc = pu.PointCloud(pts,(100,100,100)) |
Definition at line 607 of file occupancy_grid_3d.py.
| hrl_tilting_hokuyo::occupancy_grid_3d::pkl_file_name = opt.pkl_file_name |
Definition at line 563 of file occupancy_grid_3d.py.
Definition at line 582 of file occupancy_grid_3d.py.
Definition at line 578 of file occupancy_grid_3d.py.
| hrl_tilting_hokuyo::occupancy_grid_3d::pts_pkl = opt.pts_pkl |
Definition at line 562 of file occupancy_grid_3d.py.
| tuple hrl_tilting_hokuyo::occupancy_grid_3d::resolution = np.matrix([0.01,0.01,0.01]) |
print gr.grid
Definition at line 573 of file occupancy_grid_3d.py.
Definition at line 583 of file occupancy_grid_3d.py.
Definition at line 598 of file occupancy_grid_3d.py.
Definition at line 600 of file occupancy_grid_3d.py.