normalsTool Namespace Reference

Functions
def	add_angles_to_sph
def	get_rotation_matrix
def	matrix_vector_mult
def	multiply_matrix
def	normalize_vector
def	round_vector_elements
def	sph_to_xyz
def	xyz_to_sph
Variables
float	an_x = 90.0
tuple	base_vec = normalize_vector(base_vec)
tuple	base_vectors = rospy.get_param('base_vectors')
int	color_step = 1
int	d_az = 180
int	d_elev = 180
tuple	d_x = rospy.get_param('d_pan')
tuple	d_y = rospy.get_param('d_tilt')
tuple	f = open(rospack.get_path('asr_object_database') + '/src/normal_generator_tool/normalsToolParams.yaml', 'r')
tuple	fh = open(rospack.get_path('asr_object_database') + output_rel_path, 'w')
tuple	hue = (marker_id / (len(normals) / size_vec))
tuple	marker = Marker()
tuple	marker_frame = rospy.get_param('marker_frame')
int	marker_id = 0
tuple	markerArray = MarkerArray()
tuple	new_normal = sph_to_xyz(new_sp[0], new_sp[1], new_sp[2])
tuple	new_sp = add_angles_to_sph(sp, d_elev, d_az)
list	normals = []
tuple	output_rel_path = rospy.get_param('output_rel_path')
string	output_string = ""
tuple	pan_max = rospy.get_param('pan')
tuple	pan_min = rospy.get_param('pan')
tuple	point_end = Point()
tuple	point_start = Point()
tuple	pub_topic = rospy.get_param('pub_topic')
tuple	publish_rate = rospy.get_param('publish_rate')
tuple	publisher = rospy.Publisher(pub_topic, MarkerArray, queue_size=10)
tuple	rate = rospy.Rate(publish_rate)
tuple	result_normal = matrix_vector_mult(rot_mat_trans, new_normal)
tuple	rgb = colorsys.hsv_to_rgb(hue, 1.0, 1.0)
tuple	rospack = rospkg.RosPack()
tuple	rot_mat = get_rotation_matrix(an_x, 0.0, 0.0)
tuple	rot_mat_trans = get_rotation_matrix(-an_x, 0.0, 0.0)
tuple	size_vec = len(base_vectors)
tuple	sp = xyz_to_sph(base_vec[0], base_vec[1], base_vec[2])
tuple	tilt_max = rospy.get_param('tilt')
tuple	tilt_min = rospy.get_param('tilt')
tuple	yamlfile = load(f)

---

Function Documentation

def normalsTool.add_angles_to_sph	(		sph,
			d_elev,
			d_az
	)

Definition at line 85 of file normalsTool.py.

def normalsTool.get_rotation_matrix	(		angle_x,
			angle_y,
			angle_z
	)

Definition at line 55 of file normalsTool.py.

def normalsTool.matrix_vector_mult	(		matrix,
			vector
	)

Definition at line 48 of file normalsTool.py.

def normalsTool.multiply_matrix	(		matrix_1,
			matrix_2
	)

Definition at line 32 of file normalsTool.py.

def normalsTool.normalize_vector

(

vec

)

Definition at line 91 of file normalsTool.py.

def normalsTool.round_vector_elements

(

vec

)

Definition at line 98 of file normalsTool.py.

def normalsTool.sph_to_xyz	(		r,
			elev,
			az
	)

Definition at line 79 of file normalsTool.py.

def normalsTool.xyz_to_sph	(		x,
			y,
			z
	)

Definition at line 73 of file normalsTool.py.

---

Variable Documentation

float normalsTool::an_x = 90.0

Definition at line 130 of file normalsTool.py.

tuple normalsTool::base_vec = normalize_vector(base_vec)

Definition at line 137 of file normalsTool.py.

tuple normalsTool::base_vectors = rospy.get_param('base_vectors')

Definition at line 117 of file normalsTool.py.

float normalsTool::color_step = 1

Definition at line 172 of file normalsTool.py.

int normalsTool::d_az = 180

Definition at line 142 of file normalsTool.py.

int normalsTool::d_elev = 180

Definition at line 143 of file normalsTool.py.

tuple normalsTool::d_x = rospy.get_param('d_pan')

Definition at line 122 of file normalsTool.py.

tuple normalsTool::d_y = rospy.get_param('d_tilt')

Definition at line 123 of file normalsTool.py.

tuple normalsTool::f = open(rospack.get_path('asr_object_database') + '/src/normal_generator_tool/normalsToolParams.yaml', 'r')

Definition at line 109 of file normalsTool.py.

tuple normalsTool::fh = open(rospack.get_path('asr_object_database') + output_rel_path, 'w')

Definition at line 164 of file normalsTool.py.

tuple normalsTool::hue = (marker_id / (len(normals) / size_vec))

Definition at line 177 of file normalsTool.py.

tuple normalsTool::marker = Marker()

Definition at line 180 of file normalsTool.py.

tuple normalsTool::marker_frame = rospy.get_param('marker_frame')

Definition at line 114 of file normalsTool.py.

int normalsTool::marker_id = 0

Definition at line 170 of file normalsTool.py.

tuple normalsTool::markerArray = MarkerArray()

Definition at line 169 of file normalsTool.py.

tuple normalsTool::new_normal = sph_to_xyz(new_sp[0], new_sp[1], new_sp[2])

Definition at line 145 of file normalsTool.py.

tuple normalsTool::new_sp = add_angles_to_sph(sp, d_elev, d_az)

Definition at line 144 of file normalsTool.py.

list normalsTool::normals = []

Definition at line 135 of file normalsTool.py.

tuple normalsTool::output_rel_path = rospy.get_param('output_rel_path')

Definition at line 116 of file normalsTool.py.

string normalsTool::output_string = ""

Definition at line 151 of file normalsTool.py.

tuple normalsTool::pan_max = rospy.get_param('pan')

Definition at line 119 of file normalsTool.py.

tuple normalsTool::pan_min = rospy.get_param('pan')

Definition at line 118 of file normalsTool.py.

tuple normalsTool::point_end = Point()

Definition at line 193 of file normalsTool.py.

tuple normalsTool::point_start = Point()

Definition at line 192 of file normalsTool.py.

tuple normalsTool::pub_topic = rospy.get_param('pub_topic')

Definition at line 115 of file normalsTool.py.

tuple normalsTool::publish_rate = rospy.get_param('publish_rate')

Definition at line 124 of file normalsTool.py.

tuple normalsTool::publisher = rospy.Publisher(pub_topic, MarkerArray, queue_size=10)

Definition at line 126 of file normalsTool.py.

tuple normalsTool::rate = rospy.Rate(publish_rate)

Definition at line 207 of file normalsTool.py.

tuple normalsTool::result_normal = matrix_vector_mult(rot_mat_trans, new_normal)

Definition at line 146 of file normalsTool.py.

tuple normalsTool::rgb = colorsys.hsv_to_rgb(hue, 1.0, 1.0)

Definition at line 178 of file normalsTool.py.

tuple normalsTool::rospack = rospkg.RosPack()

Definition at line 106 of file normalsTool.py.

tuple normalsTool::rot_mat = get_rotation_matrix(an_x, 0.0, 0.0)

Definition at line 131 of file normalsTool.py.

tuple normalsTool::rot_mat_trans = get_rotation_matrix(-an_x, 0.0, 0.0)

Definition at line 132 of file normalsTool.py.

tuple normalsTool::size_vec = len(base_vectors)

Definition at line 171 of file normalsTool.py.

tuple normalsTool::sp = xyz_to_sph(base_vec[0], base_vec[1], base_vec[2])

Definition at line 139 of file normalsTool.py.

tuple normalsTool::tilt_max = rospy.get_param('tilt')

Definition at line 121 of file normalsTool.py.

tuple normalsTool::tilt_min = rospy.get_param('tilt')

Definition at line 120 of file normalsTool.py.

tuple normalsTool::yamlfile = load(f)

Definition at line 110 of file normalsTool.py.