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_xyz |
| shift the points to be around the mean for x and y (matrix is 4xn) | |
| def | pca |
| run eigenvector PCA for a 3xn scipy matrix, return the directions (columns in 3x3 matrix) | |
| 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_3d.py.
| def object_manipulator.cluster_bounding_box_finder_3d.ClusterBoundingBoxFinder3D.__init__ | ( | self, | |
tf_listener = None, |
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tf_broadcaster = None |
|||
| ) |
Definition at line 57 of file cluster_bounding_box_finder_3d.py.
| def object_manipulator.cluster_bounding_box_finder_3d.ClusterBoundingBoxFinder3D.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 136 of file cluster_bounding_box_finder_3d.py.
| def object_manipulator.cluster_bounding_box_finder_3d.ClusterBoundingBoxFinder3D.mean_shift_xyz | ( | self, | |
| points | |||
| ) |
shift the points to be around the mean for x and y (matrix is 4xn)
Definition at line 81 of file cluster_bounding_box_finder_3d.py.
| def object_manipulator.cluster_bounding_box_finder_3d.ClusterBoundingBoxFinder3D.pca | ( | self, | |
| points | |||
| ) |
run eigenvector PCA for a 3xn scipy matrix, return the directions (columns in 3x3 matrix)
Definition at line 73 of file cluster_bounding_box_finder_3d.py.
| def object_manipulator.cluster_bounding_box_finder_3d.ClusterBoundingBoxFinder3D.remove_outliers | ( | self, | |
| points | |||
| ) |
remove outliers from the cluster (4xn scipy matrix)
Definition at line 91 of file cluster_bounding_box_finder_3d.py.
Definition at line 136 of file cluster_bounding_box_finder_3d.py.
Definition at line 57 of file cluster_bounding_box_finder_3d.py.
Definition at line 57 of file cluster_bounding_box_finder_3d.py.