Functions | Variables
hrl_hokuyo::hokuyo_processing Namespace Reference

Functions

def angle_to_index
def connected_components
def coord
def draw_hokuyo_scan
def draw_points
def find_closest_object_point
def find_door
def find_objects
def get_xy_map
def hough_lines
def index_to_angle
def pixel_to_real
def remove_graze_effect
def remove_graze_effect_scan
def subtract_scans
def test_connected_comps
def test_find_closest_object_point
def test_find_handle_init
def test_find_lines
def test_find_objects
def tune_graze_effect_init
def tune_graze_effect_update
def xy_map_to_cv_image
def xy_map_to_np_image

Variables

 ang_range = opt.ang_range
 avg_number = opt.avg
tuple clk = pygame.time.Clock()
list color_list
int default = 360
tuple diff_scan = subtract_scans(scan,scan_prev)
tuple events = pygame.event.get()
 flip = opt.flip
int fps = 100
tuple h
string help = 'hokuyo_type. urg or utm'
 hokuyo_number = opt.hokuyo_number
 hokuyo_type = opt.hokuyo_type
 loopFlag = True
float MAX_DIST = 1.0
 max_dist = MAX_DIST
list n_ch_pts_list = []
tuple p = optparse.OptionParser()
tuple pts = get_xy_map(diff_scan,math.radians(-40), math.radians(40),reject_zero_ten=True)
tuple scan = h.get_scan(avoid_duplicate=True, avg=avg_number, remove_graze=False)
tuple scan_prev = h.get_scan(avoid_duplicate=True, avg=avg_number, remove_graze=False)
tuple sl = tune_graze_effect_init()
tuple srf = pygame.display.set_mode((640,480))
 test_find_closest_object_point_flag = False
 test_find_lines_flag = False
 test_find_objects_flag = False
 test_graze_effect_flag = False
 test_show_change_flag = False
 widget_clicked = False

Function Documentation

def hrl_hokuyo.hokuyo_processing.angle_to_index (   scan,
  angle 
) 
returns index corresponding to angle (radians).

Definition at line 70 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.connected_components (   p,
  dist_threshold 
) 
p - 2xN numpy matrix of euclidean points points (indices give neighbours).
    dist_threshold - max distance between two points in the same connected component.
                     typical value is .02 meters
    returns a list of (p1,p2, p1_index, p2_index): (start euclidean point, end euclidean point, start index, end index) 
    p1 and p2 are 2X1 matrices

Definition at line 131 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.coord (   x,
  y,
  max_dist 
) 
hokuyo coord frame to pixel (x,y) - floats
     x,y - NX1 matrices (N points)
     max_dist - dist which will be drawn at row 0

Definition at line 474 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.draw_hokuyo_scan (   srf,
  scan,
  ang1,
  ang2,
  color,
  reject_zero_ten = True,
  step = 1 
) 
reject_zero_ten - don't show points with 0 or 10. range readings.
    step - set > 1 if you don't want to draw all the points.

Definition at line 490 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.draw_points (   srf,
  x,
  y,
  color,
  max_dist,
  step = 1 
) 
step - set > 1 if you don't want to draw all the points.

Definition at line 481 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.find_closest_object_point (   scan,
  pt_interest = np.matrix([0.,0.],
  T,
  min_angle = math.radians(-60),
  max_angle = math.radians(60),
  max_dist = 0.6,
  min_size = 0.01,
  max_size = 0.3 
) 
returns 2x1 matrix - centroid of connected component in hokuyo frame closest to pt_interest
    pt_interest - 2x1 matrix in hokuyo coord frame.
    None if no object found.

Definition at line 192 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.find_door (   start_pts_list,
  end_pts_list,
  pt_interest = None 
) 
returns [p1x,p1y], [p2x,p2y] ([],[] if no door found)
    returns line closest to the pt_interest.
    pt_interest - 2x1 matrix

Definition at line 256 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.find_objects (   scan,
  max_dist,
  max_size,
  min_size,
  min_angle,
  max_angle,
  connect_dist_thresh,
  all_pts = False 
) 
max_dist - objects with centroid greater than max_dist will be ignored. (meters)
    max_size - objects greater than this are ignored. (meters)
    min_size - smaller than this are ignored (meters)
    min_angle, max_angle - part of scan to consider.
    connect_dist_thresh - points in scan greater than this will be treated as separate
                          connected components.

    all_pts == True:
        returns [ np matrix: 2xN1, 2xN2 ...] each matrix consists of all the points in the object.
    all_pts == False:
        returns list of (p,q,centroid): (end points,object centroid (2x1 matrices.))

Definition at line 156 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.get_xy_map (   scan,
  start_angle = math.radians(-360),
  end_angle = math.radians(360),
  reject_zero_ten = True,
  max_dist = np.Inf,
  min_dist = -np.Inf,
  sigmoid_hack = False,
  get_intensities = False 
) 
start_angle - starting angle for points to be considered (hokuyo coord)
    end_angle - ending angle in hokuyo coord frame.
    scan - object of class HokuyoScan
    reject_zero_ten - ignore points at 0 or 10. meters
            
    returns - 2xN matrix, if get_intensities=True returns (2xN matrix, 1xN matrix)

Definition at line 80 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.hough_lines (   xy_map,
  save_lines = False 
) 
xy_map - 2xN matrix of points.
    returns start_list, end_list. [[p1x,p1y],[p2x,p2y]...],[[q1x,q1y]...]
            [],[] if no lines were found.

Definition at line 356 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.index_to_angle (   scan,
  index 
) 
returns angle (radians) corresponding to index.

Definition at line 75 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.pixel_to_real (   x,
  y,
  max_dist 
) 
pixel to hokuyo
     x,y - NX1 matrices (N points)
     max_dist - dist which will be drawn at row 0

Definition at line 466 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.remove_graze_effect (   ranges,
  angles,
  skip = 1,
  graze_angle_threshold = math.radians(169.) 
) 
ranges,angles - 1xN numpy matrix
    skip - which two rays to consider.
    this function changes ranges.

Definition at line 211 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.remove_graze_effect_scan (   scan,
  graze_angle_threshold = math.radians(169.) 
) 
changes scan

Definition at line 232 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.subtract_scans (   scan2,
  scan1,
  threshold = 0.01 
)

Definition at line 237 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.test_connected_comps (   srf,
  scan 
)

Definition at line 500 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.test_find_closest_object_point (   srf,
  scan 
)

Definition at line 523 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.test_find_handle_init ( )

Definition at line 554 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.test_find_lines ( )

Definition at line 564 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.test_find_objects (   srf,
  scan 
)

Definition at line 510 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.tune_graze_effect_init ( )

Definition at line 534 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.tune_graze_effect_update (   sl,
  srf,
  scan 
)

Definition at line 538 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.xy_map_to_cv_image (   xy_map,
  m_per_pixel,
  dilation_count = 0,
  padding = 10 
)

Definition at line 351 of file hokuyo_processing.py.

def hrl_hokuyo.hokuyo_processing.xy_map_to_np_image (   xy_map,
  m_per_pixel,
  dilation_count = 0,
  padding = 50 
) 
returns binary numpy image. (255 for occupied
    pixels, 0 for unoccupied)
    2d array

Definition at line 323 of file hokuyo_processing.py.

Variable Documentation

tuple hrl_hokuyo::hokuyo_processing::ang_range = opt.ang_range

Definition at line 603 of file hokuyo_processing.py.

hrl_hokuyo::hokuyo_processing::avg_number = opt.avg

Definition at line 601 of file hokuyo_processing.py.

tuple hrl_hokuyo::hokuyo_processing::clk = pygame.time.Clock()

Definition at line 622 of file hokuyo_processing.py.

list hrl_hokuyo::hokuyo_processing::color_list
Initial value:
00001 [(255,255,0),(255,0,0),(0,255,255),(0,255,0),(0,0,255),(0,100,100),(100,100,0),
00002               (100,0,100),(100,200,100),(200,100,100),(100,100,200),(100,0,200),(0,200,100),
00003               (0,0,0),(0,100,200),(200,0,100),(100,0,100),(255,152,7) ]

Definition at line 65 of file hokuyo_processing.py.

int hrl_hokuyo::hokuyo_processing::default = 360

Definition at line 596 of file hokuyo_processing.py.

tuple hrl_hokuyo::hokuyo_processing::diff_scan = subtract_scans(scan,scan_prev)

Definition at line 668 of file hokuyo_processing.py.

tuple hrl_hokuyo::hokuyo_processing::events = pygame.event.get()

Definition at line 687 of file hokuyo_processing.py.

hrl_hokuyo::hokuyo_processing::flip = opt.flip

Definition at line 602 of file hokuyo_processing.py.

int hrl_hokuyo::hokuyo_processing::fps = 100

Definition at line 620 of file hokuyo_processing.py.

tuple hrl_hokuyo::hokuyo_processing::h
Initial value:
00001 hs.Hokuyo('utm',hokuyo_number,start_angle=-ang_range,
00002                       end_angle=ang_range,flip=flip)

Definition at line 626 of file hokuyo_processing.py.

string hrl_hokuyo::hokuyo_processing::help = 'hokuyo_type. urg or utm'

Definition at line 587 of file hokuyo_processing.py.

hrl_hokuyo::hokuyo_processing::hokuyo_number = opt.hokuyo_number

Definition at line 600 of file hokuyo_processing.py.

hrl_hokuyo::hokuyo_processing::hokuyo_type = opt.hokuyo_type

Definition at line 599 of file hokuyo_processing.py.

hrl_hokuyo::hokuyo_processing::loopFlag = True

Definition at line 621 of file hokuyo_processing.py.

tuple hrl_hokuyo::hokuyo_processing::MAX_DIST = 1.0

Definition at line 61 of file hokuyo_processing.py.

hrl_hokuyo::hokuyo_processing::max_dist = MAX_DIST

Definition at line 672 of file hokuyo_processing.py.

list hrl_hokuyo::hokuyo_processing::n_ch_pts_list = []

Definition at line 645 of file hokuyo_processing.py.

tuple hrl_hokuyo::hokuyo_processing::p = optparse.OptionParser()

Definition at line 585 of file hokuyo_processing.py.

tuple hrl_hokuyo::hokuyo_processing::pts = get_xy_map(diff_scan,math.radians(-40), math.radians(40),reject_zero_ten=True)

Definition at line 670 of file hokuyo_processing.py.

tuple hrl_hokuyo::hokuyo_processing::scan = h.get_scan(avoid_duplicate=True, avg=avg_number, remove_graze=False)

Definition at line 659 of file hokuyo_processing.py.

hrl_hokuyo::hokuyo_processing::scan_prev = h.get_scan(avoid_duplicate=True, avg=avg_number, remove_graze=False)

Definition at line 644 of file hokuyo_processing.py.

tuple hrl_hokuyo::hokuyo_processing::sl = tune_graze_effect_init()

Definition at line 640 of file hokuyo_processing.py.

tuple hrl_hokuyo::hokuyo_processing::srf = pygame.display.set_mode((640,480))

Definition at line 617 of file hokuyo_processing.py.

hrl_hokuyo::hokuyo_processing::test_find_closest_object_point_flag = False

Definition at line 609 of file hokuyo_processing.py.

hrl_hokuyo::hokuyo_processing::test_find_lines_flag = False

Definition at line 611 of file hokuyo_processing.py.

hrl_hokuyo::hokuyo_processing::test_find_objects_flag = False

Definition at line 608 of file hokuyo_processing.py.

hrl_hokuyo::hokuyo_processing::test_graze_effect_flag = False

Definition at line 607 of file hokuyo_processing.py.

hrl_hokuyo::hokuyo_processing::test_show_change_flag = False

Definition at line 610 of file hokuyo_processing.py.

hrl_hokuyo::hokuyo_processing::widget_clicked = False

Definition at line 648 of file hokuyo_processing.py.


hrl_hokuyo
Author(s): Advait Jain, Advisor: Prof. Charlie Kemp, Lab: Healthcare Robotics Lab at Georgia Tech
autogenerated on Wed Nov 27 2013 11:55:51