class which implements the occupancy grid More...
Public Member Functions | |
| def | __init__ |
| def | argmax_z |
| def | fill_grid |
| fill the occupancy grid. | |
| def | find_objects |
| def | find_objects_2d |
| def | find_plane_indices |
| def | grid_lines |
| returns list of 8 tuples of 3x1 points which form the edges of the grid. | |
| def | grid_to_centroids |
| get centroids of all the occupied cells as a 3xN np matrix | |
| def | grid_to_points |
| def | labeled_array_to_points |
| def | remove_horizontal_plane |
| def | remove_vertical_plane |
| def | segment_objects |
| def | to_binary |
Public Attributes | |
| brf | |
| grid | |
| grid_points_list | |
| grid_shape | |
| resolution | |
| rotation_z | |
| tlb | |
class which implements the occupancy grid
Definition at line 93 of file old_occupancy_grid_3d.py.
| def old_occupancy_grid_3d.occupancy_grid_3d.__init__ | ( | self, | |
| brf, | |||
| tlb, | |||
| resolution, | |||
rotation_z = math.radians(0.) |
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| ) |
| brf | - 3x1 matrix. Bottom Right Front. |
| tlb | - 3x1 matrix (coord of center of the top left back cell) |
| resolution | - 3x1 matrix. size of each cell (in meters) along the different directions. |
Definition at line 100 of file old_occupancy_grid_3d.py.
| def old_occupancy_grid_3d.occupancy_grid_3d.argmax_z | ( | self, | |
index_min = -np.Inf, |
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index_max = np.Inf, |
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search_up = False, |
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search_down = False |
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| ) |
searches in the z direction for maximum number of cells with occupancy==1
call this function after calling to_binary()
returns index.
Definition at line 187 of file old_occupancy_grid_3d.py.
| def old_occupancy_grid_3d.occupancy_grid_3d.fill_grid | ( | self, | |
| pts, | |||
ignore_z = False |
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| ) |
fill the occupancy grid.
| pts | - 3xN matrix of points. |
| ignore_z | - not use the z coord of the points. grid will be like a 2D grid. |
each cell of the grid gets filled the number of points that fall in the cell.
Definition at line 147 of file old_occupancy_grid_3d.py.
region growing kind of thing for segmentation. Useful if plane has been removed.
Definition at line 490 of file old_occupancy_grid_3d.py.
projects all points into the xy plane and then performs
segmentation by region growing.
Definition at line 440 of file old_occupancy_grid_3d.py.
| def old_occupancy_grid_3d.occupancy_grid_3d.find_plane_indices | ( | self, | |
hmin = -np.Inf, |
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hmax = np.Inf, |
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assume_plane = False |
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| ) |
assume_plane - always return something.
returns list of indices (z) corrresponding to horizontal plane points.
returns [] if there is no plane
Definition at line 232 of file old_occupancy_grid_3d.py.
| def old_occupancy_grid_3d.occupancy_grid_3d.grid_lines | ( | self, | |
rotation_angle = 0. |
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| ) |
returns list of 8 tuples of 3x1 points which form the edges of the grid.
Useful for displaying the extents of the volume of interest (VOI).
Definition at line 116 of file old_occupancy_grid_3d.py.
| def old_occupancy_grid_3d.occupancy_grid_3d.grid_to_centroids | ( | self, | |
occupancy_threshold = 1 |
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| ) |
get centroids of all the occupied cells as a 3xN np matrix
| occupancy_threshold | - number of points in a cell for it to be "occupied" |
Definition at line 283 of file old_occupancy_grid_3d.py.
| def old_occupancy_grid_3d.occupancy_grid_3d.grid_to_points | ( | self, | |
array = None, |
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occupancy_threshold = 1 |
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| ) |
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 >= occupancy_threshold
Definition at line 292 of file old_occupancy_grid_3d.py.
| def old_occupancy_grid_3d.occupancy_grid_3d.labeled_array_to_points | ( | self, | |
| array, | |||
| label | |||
| ) |
returns coordinates of centers of grid cells corresponding to
label as a 3xN matrix.
Definition at line 314 of file old_occupancy_grid_3d.py.
| def old_occupancy_grid_3d.occupancy_grid_3d.remove_horizontal_plane | ( | self, | |
remove_below = True, |
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hmin = -np.Inf, |
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hmax = np.Inf, |
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extra_layers = 0 |
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| ) |
call after to_binary()
removes points corresponding to the horizontal plane from the grid.
remove_below - remove points below the plane also.
hmin,hmax - min and max possible height of the plane. (meters)
This function changes grid.
extra_layers - number of layers above the plane to remove. Sometimes
I want to be over zealous while removing plane points.
e.g. max_fwd_without_collision
it returns the slice which has been set to zero, in case you want to
leave the grid unchanged.
Definition at line 370 of file old_occupancy_grid_3d.py.
removes plane parallel to the YZ plane.
changes grid.
returns plane_indices, slice corresponding to the vertical plane.
points behind the plane are lost for ever!
Definition at line 332 of file old_occupancy_grid_3d.py.
| def old_occupancy_grid_3d.occupancy_grid_3d.segment_objects | ( | self, | |
twod = False |
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| ) |
segments out objects after removing the plane.
call after calling to_binary.
returns labelled_array,n_labels
labelled_array - same dimen as occupancy grid, each object has a different label.
Definition at line 422 of file old_occupancy_grid_3d.py.
| def old_occupancy_grid_3d.occupancy_grid_3d.to_binary | ( | self, | |
thresh = 1 |
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| ) |
all cells with occupancy>=thresh set to 1, others set to 0.
Definition at line 180 of file old_occupancy_grid_3d.py.
Definition at line 100 of file old_occupancy_grid_3d.py.
Definition at line 100 of file old_occupancy_grid_3d.py.
Definition at line 100 of file old_occupancy_grid_3d.py.
Definition at line 100 of file old_occupancy_grid_3d.py.
Definition at line 100 of file old_occupancy_grid_3d.py.
Definition at line 100 of file old_occupancy_grid_3d.py.
Definition at line 100 of file old_occupancy_grid_3d.py.