test_display_pr2_try3 Namespace Reference

Functions
def	create_default_scan_dataset
def	define_ROI_polygons
	MAKE SURE THAT THESE MATCH ORIGINAL TAKE: CROP CAMERA IMAGE TO RIO.
def	show_image
Variables
tuple	ac = acquire_pr2_data.AcquireCloud()
	CalibrationVisual = True
list	camPts_bound = camPts[:,idx_list]
tuple	cfg = configuration.configuration(DATA_LOCATION, ROBOT)
	CHANGE THIS TO THE DIRECTORY WITH RESULTS FROM CODY: change 'codyRobot' to 'dummyScanner' or code tries to find camera drivers, etc.
	colors = pc.map_polys
tuple	crop_region = (0.3,0.3,0.3,0.3)
tuple	data = np.asarray(pc.pts3d_bound)
tuple	data_idx = np.where(np.asarray(pc.map_polys) == processor.LABEL_SURFACE)
string	DATA_LOCATION = '/home/jokerman/Desktop/PR2/'
string	DATASET_ID = 'pr2_example_0003'
	displayOn = True
tuple	feature_data = pc.generate_features(NUMBER_OF_POINTS,False, True)
string	filename = 'data/'
	h = image_size.height
tuple	image_size = cv.cvGetSize(pc.img)
list	intensities_bound = pc.intensities[idx_list]
	IS_LABELED = True
string	MODE = 'all_post'
tuple	N = len(idx_list)
tuple	Nbound = len( idx_list[idx_list] )
int	NUMBER_OF_POINTS = 1800
float	object_height = 0.1
	Placement routine.
tuple	overlay_img = pc.draw_mapped_laser_into_image(pc.map, pc.pts3d, pc.img)
tuple	pc = processor.processor(cfg)
tuple	pl = Placement(pc, resolution)
	object_height = 0.1
tuple	placement_point = pl.test_placement(polygon, object_height)
	REPLACE WITH MY OWN CLASS DEFINITION WITH FUNCTIONs.
tuple	placement_point_global = mcf.thok0Tglobal(placement_point)
tuple	polygon = label_object()
tuple	polygon_mapping = list(1 for x in range(m))
	pc.display_3d('labels')###
list	pts3d_bound = pc.pts3d[:,idx_list]
tuple	pub = rospy.Publisher('labeled_cloud', PointCloud)
list	resolution = [.01*SCALE, .01*SCALE]
string	ROBOT = 'desktopScanner'
	SAVE_INTENSITY_IMAGE = False
	SAVE_UNUSED_NEIGHBORS_TO = False
	pc.display_all_data()###
int	SCALE = 1
tuple	scan_indices_bound = np.array(range(N))
	SHOW_IN_ROS = True
	previously 1000, False,True
tuple	table_height = np.mean(data, axis=1)
	USE_POLYGONS = True
	w = image_size.width
int	z_above_floor = 0

---

Function Documentation

def test_display_pr2_try3.create_default_scan_dataset	(		unique_id = DATASET_ID,
			z_above_floor = 1.32
	)

Definition at line 82 of file test_display_pr2_try3.py.

def test_display_pr2_try3.define_ROI_polygons	(		w,
			h,
			crop_regions
	)

MAKE SURE THAT THESE MATCH ORIGINAL TAKE: CROP CAMERA IMAGE TO RIO.

# Create dummy edges for placement
# Note this assumes we will be using a SQUARE region of interest -- not true in general.
Usage: 
    w = image_size.width; h = image_size.height
    crop_region = (0.2,0.1,.2,.1) # % to crop left, crop right, crop top, crop bot
    surface_ROI, list_of_edges = define_ROI_polygons(w, h, crop_region) 
    pc.scan_dataset.polygons.append(surface_ROI)
    for p in list_of_edges: pc.scan_dataset.polygons.append(p)

Definition at line 102 of file test_display_pr2_try3.py.

def test_display_pr2_try3.show_image	(		window_name,
			img,
			wait = False
	)

Definition at line 138 of file test_display_pr2_try3.py.

---

Variable Documentation

tuple test_display_pr2_try3::ac = acquire_pr2_data.AcquireCloud()

Definition at line 172 of file test_display_pr2_try3.py.

test_display_pr2_try3::CalibrationVisual = True

Definition at line 71 of file test_display_pr2_try3.py.

list test_display_pr2_try3::camPts_bound = camPts[:,idx_list]

Definition at line 185 of file test_display_pr2_try3.py.

tuple test_display_pr2_try3::cfg = configuration.configuration(DATA_LOCATION, ROBOT)

CHANGE THIS TO THE DIRECTORY WITH RESULTS FROM CODY: change 'codyRobot' to 'dummyScanner' or code tries to find camera drivers, etc.

Definition at line 151 of file test_display_pr2_try3.py.

test_display_pr2_try3::colors = pc.map_polys

Definition at line 296 of file test_display_pr2_try3.py.

tuple test_display_pr2_try3::crop_region = (0.3,0.3,0.3,0.3)

Definition at line 198 of file test_display_pr2_try3.py.

tuple test_display_pr2_try3::data = np.asarray(pc.pts3d_bound)

Definition at line 307 of file test_display_pr2_try3.py.

tuple test_display_pr2_try3::data_idx = np.where(np.asarray(pc.map_polys) == processor.LABEL_SURFACE)

Definition at line 306 of file test_display_pr2_try3.py.

string test_display_pr2_try3::DATA_LOCATION = '/home/jokerman/Desktop/PR2/'

Definition at line 56 of file test_display_pr2_try3.py.

string test_display_pr2_try3::DATASET_ID = 'pr2_example_0003'

Definition at line 55 of file test_display_pr2_try3.py.

test_display_pr2_try3::displayOn = True

Definition at line 75 of file test_display_pr2_try3.py.

tuple test_display_pr2_try3::feature_data = pc.generate_features(NUMBER_OF_POINTS,False, True)

Definition at line 260 of file test_display_pr2_try3.py.

string test_display_pr2_try3::filename = 'data/'

Definition at line 317 of file test_display_pr2_try3.py.

test_display_pr2_try3::h = image_size.height

Definition at line 197 of file test_display_pr2_try3.py.

tuple test_display_pr2_try3::image_size = cv.cvGetSize(pc.img)

Definition at line 195 of file test_display_pr2_try3.py.

list test_display_pr2_try3::intensities_bound = pc.intensities[idx_list]

Definition at line 188 of file test_display_pr2_try3.py.

test_display_pr2_try3::IS_LABELED = True

Definition at line 68 of file test_display_pr2_try3.py.

string test_display_pr2_try3::MODE = 'all_post'

Definition at line 73 of file test_display_pr2_try3.py.

tuple test_display_pr2_try3::N = len(idx_list)

Definition at line 180 of file test_display_pr2_try3.py.

tuple test_display_pr2_try3::Nbound = len( idx_list[idx_list] )

Definition at line 181 of file test_display_pr2_try3.py.

int test_display_pr2_try3::NUMBER_OF_POINTS = 1800

Definition at line 66 of file test_display_pr2_try3.py.

float test_display_pr2_try3::object_height = 0.1

Placement routine.

Definition at line 348 of file test_display_pr2_try3.py.

tuple test_display_pr2_try3::overlay_img = pc.draw_mapped_laser_into_image(pc.map, pc.pts3d, pc.img)

Definition at line 222 of file test_display_pr2_try3.py.

tuple test_display_pr2_try3::pc = processor.processor(cfg)

Definition at line 152 of file test_display_pr2_try3.py.

tuple test_display_pr2_try3::pl = Placement(pc, resolution)

object_height = 0.1

Definition at line 360 of file test_display_pr2_try3.py.

tuple test_display_pr2_try3::placement_point = pl.test_placement(polygon, object_height)

REPLACE WITH MY OWN CLASS DEFINITION WITH FUNCTIONs.

Definition at line 363 of file test_display_pr2_try3.py.

tuple test_display_pr2_try3::placement_point_global = mcf.thok0Tglobal(placement_point)

Definition at line 372 of file test_display_pr2_try3.py.

tuple test_display_pr2_try3::polygon = label_object()

Definition at line 352 of file test_display_pr2_try3.py.

tuple test_display_pr2_try3::polygon_mapping = list(1 for x in range(m))

pc.display_3d('labels')###

Definition at line 244 of file test_display_pr2_try3.py.

list test_display_pr2_try3::pts3d_bound = pc.pts3d[:,idx_list]

Definition at line 186 of file test_display_pr2_try3.py.

tuple test_display_pr2_try3::pub = rospy.Publisher('labeled_cloud', PointCloud)

Definition at line 293 of file test_display_pr2_try3.py.

list test_display_pr2_try3::resolution = [.01*SCALE, .01*SCALE]

Definition at line 350 of file test_display_pr2_try3.py.

string test_display_pr2_try3::ROBOT = 'desktopScanner'

Definition at line 54 of file test_display_pr2_try3.py.

test_display_pr2_try3::SAVE_INTENSITY_IMAGE = False

Definition at line 70 of file test_display_pr2_try3.py.

test_display_pr2_try3::SAVE_UNUSED_NEIGHBORS_TO = False

pc.display_all_data()###

Definition at line 256 of file test_display_pr2_try3.py.

int test_display_pr2_try3::SCALE = 1

Definition at line 67 of file test_display_pr2_try3.py.

tuple test_display_pr2_try3::scan_indices_bound = np.array(range(N))

Definition at line 187 of file test_display_pr2_try3.py.

test_display_pr2_try3::SHOW_IN_ROS = True

previously 1000, False,True

pc.display_3d('all')### Labels are now generated --> can be saved to file? pc.display_3d('baseline')###

Definition at line 285 of file test_display_pr2_try3.py.

tuple test_display_pr2_try3::table_height = np.mean(data, axis=1)

Definition at line 308 of file test_display_pr2_try3.py.

test_display_pr2_try3::USE_POLYGONS = True

Definition at line 69 of file test_display_pr2_try3.py.

test_display_pr2_try3::w = image_size.width

Definition at line 196 of file test_display_pr2_try3.py.

int test_display_pr2_try3::z_above_floor = 0

Definition at line 57 of file test_display_pr2_try3.py.