class for using PCA to find the principal directions and bounding box for a point cluster More...
Public Member Functions | |
| def | __init__ |
| def | find_object_frame_and_bounding_box |
| find the object frame and bounding box for a PointCloud or PointCloud2 use the local rosparam z_up_frame to specify the desired frame to use where the z-axis is special (box z will be frame z) if not specified, the point cloud's frame is assumed to be the desired z_up_frame | |
| def | mean_shift_xy |
| shift the points to be around the mean for x and y (matrix is 4xn) | |
| def | pca |
| run eigenvector PCA for a 2xn scipy matrix, return the directions (list of 2x1 scipy arrays) | |
| def | remove_outliers |
| remove outliers from the cluster (4xn scipy matrix) | |
Public Attributes | |
| base_frame | |
| tf_broadcaster | |
| tf_listener | |
class for using PCA to find the principal directions and bounding box for a point cluster
Definition at line 55 of file cluster_bounding_box_finder.py.
| def object_manipulator.cluster_bounding_box_finder.ClusterBoundingBoxFinder.__init__ | ( | self, | |
tf_listener = None, |
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tf_broadcaster = None |
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| ) |
Definition at line 57 of file cluster_bounding_box_finder.py.
| def object_manipulator.cluster_bounding_box_finder.ClusterBoundingBoxFinder.find_object_frame_and_bounding_box | ( | self, | |
| point_cloud | |||
| ) |
find the object frame and bounding box for a PointCloud or PointCloud2 use the local rosparam z_up_frame to specify the desired frame to use where the z-axis is special (box z will be frame z) if not specified, the point cloud's frame is assumed to be the desired z_up_frame
Definition at line 142 of file cluster_bounding_box_finder.py.
| def object_manipulator.cluster_bounding_box_finder.ClusterBoundingBoxFinder.mean_shift_xy | ( | self, | |
| points | |||
| ) |
shift the points to be around the mean for x and y (matrix is 4xn)
Definition at line 86 of file cluster_bounding_box_finder.py.
| def object_manipulator.cluster_bounding_box_finder.ClusterBoundingBoxFinder.pca | ( | self, | |
| points | |||
| ) |
run eigenvector PCA for a 2xn scipy matrix, return the directions (list of 2x1 scipy arrays)
Definition at line 74 of file cluster_bounding_box_finder.py.
| def object_manipulator.cluster_bounding_box_finder.ClusterBoundingBoxFinder.remove_outliers | ( | self, | |
| points | |||
| ) |
remove outliers from the cluster (4xn scipy matrix)
Definition at line 96 of file cluster_bounding_box_finder.py.
Definition at line 142 of file cluster_bounding_box_finder.py.
Definition at line 57 of file cluster_bounding_box_finder.py.
Definition at line 57 of file cluster_bounding_box_finder.py.