point_cloud_ros.occupancy_grid.occupancy_grid_3d Class Reference

List of all members.

Public Member Functions
def	__init__
def	connected_comonents
	27-connected components.
def	grid_to_points
def	to_binary
	binarize the grid
Public Attributes
	center
	grid
	grid_shape
	resolution
	size

---

Detailed Description

Definition at line 7 of file occupancy_grid.py.

---

Constructor & Destructor Documentation

def point_cloud_ros.occupancy_grid.occupancy_grid_3d.__init__	(		self,
			center,
			size,
			resolution,
			data,
			occupancy_threshold,
			to_binary = True
	)

Parameters:

resolution

- 3x1 matrix. size of each cell (in meters) along the different directions.

Definition at line 12 of file occupancy_grid.py.

---

Member Function Documentation

def point_cloud_ros.occupancy_grid.occupancy_grid_3d.connected_comonents	(		self,
			threshold
	)

27-connected components.

Parameters:

threshold

- min allowed size of connected component

Definition at line 54 of file occupancy_grid.py.

def point_cloud_ros.occupancy_grid.occupancy_grid_3d.grid_to_points	(		self,
			array = None
	)

Parameters:

array

- if not None then this will be used instead of self.grid

Returns:

3xN matrix of 3d coord of the cells which have occupancy = 1

Definition at line 37 of file occupancy_grid.py.

def point_cloud_ros.occupancy_grid.occupancy_grid_3d.to_binary	(		self,
			occupancy_threshold
	)

binarize the grid

Parameters:

occupancy_threshold

- voxels with occupancy less than this are set to zero.

Definition at line 29 of file occupancy_grid.py.

---

Member Data Documentation

point_cloud_ros::occupancy_grid.occupancy_grid_3d::center

Definition at line 12 of file occupancy_grid.py.

point_cloud_ros::occupancy_grid.occupancy_grid_3d::grid

Definition at line 12 of file occupancy_grid.py.

point_cloud_ros::occupancy_grid.occupancy_grid_3d::grid_shape

Definition at line 12 of file occupancy_grid.py.

point_cloud_ros::occupancy_grid.occupancy_grid_3d::resolution

Definition at line 12 of file occupancy_grid.py.

point_cloud_ros::occupancy_grid.occupancy_grid_3d::size

Definition at line 12 of file occupancy_grid.py.

---

The documentation for this class was generated from the following file:

• occupancy_grid.py