object_recognition_clusters.cluster_bounding_box_finder.ClusterBoundingBoxFinder Class Reference

class for using PCA to find the principal directions and bounding box for a point cluster More...

List of all members.

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

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Detailed Description

class for using PCA to find the principal directions and bounding box for a point cluster

Definition at line 52 of file cluster_bounding_box_finder.py.

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Constructor & Destructor Documentation

def object_recognition_clusters.cluster_bounding_box_finder.ClusterBoundingBoxFinder.__init__	(		self,
			tf_listener,
			tf_broadcaster,
			base_frame = ""
	)

Definition at line 54 of file cluster_bounding_box_finder.py.

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Member Function Documentation

def object_recognition_clusters.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 135 of file cluster_bounding_box_finder.py.

def object_recognition_clusters.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 79 of file cluster_bounding_box_finder.py.

def object_recognition_clusters.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 67 of file cluster_bounding_box_finder.py.

def object_recognition_clusters.cluster_bounding_box_finder.ClusterBoundingBoxFinder.remove_outliers	(		self,
			points
	)

remove outliers from the cluster (4xn scipy matrix)

Definition at line 89 of file cluster_bounding_box_finder.py.

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Member Data Documentation

object_recognition_clusters::cluster_bounding_box_finder.ClusterBoundingBoxFinder::base_frame

Definition at line 54 of file cluster_bounding_box_finder.py.

object_recognition_clusters::cluster_bounding_box_finder.ClusterBoundingBoxFinder::tf_broadcaster

Definition at line 54 of file cluster_bounding_box_finder.py.

object_recognition_clusters::cluster_bounding_box_finder.ClusterBoundingBoxFinder::tf_listener

Definition at line 54 of file cluster_bounding_box_finder.py.

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The documentation for this class was generated from the following file:

• cluster_bounding_box_finder.py