normalsTool Namespace Reference

Functions
def	add_angles_to_sph (sph, d_elev, d_az)
def	get_rotation_matrix (angle_x, angle_y, angle_z)
def	matrix_vector_mult (matrix, vector)
def	multiply_matrix (matrix_1, matrix_2)
def	normalize_vector (vec)
def	round_vector_elements (vec)
def	sph_to_xyz (r, elev, az)
def	xyz_to_sph (x, y, z)

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

Detailed Description

Copyright (C) 2016, Allgeyer Tobias, Aumann Florian, Borella Jocelyn, Braun Kai, Heizmann Heinrich, Heller Florian, Mehlhaus Jonas, Meissner Pascal, Schleicher Ralf, Stoeckle Patrick, Walter Milena

This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License along
with this program; if not, write to the Free Software Foundation, Inc.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.

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

normalsTool.a

Definition at line 190 of file normalsTool.py.

float normalsTool.an_x = 90.0

Definition at line 130 of file normalsTool.py.

normalsTool.anonymous

Definition at line 105 of file normalsTool.py.

normalsTool.b

Definition at line 189 of file normalsTool.py.

normalsTool.base_vec = normalize_vector(base_vec)

Definition at line 137 of file normalsTool.py.

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 = pan_curr*math.pi/180

Definition at line 142 of file normalsTool.py.

int normalsTool.d_elev = tilt_curr*math.pi/180

Definition at line 143 of file normalsTool.py.

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

Definition at line 122 of file normalsTool.py.

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

Definition at line 123 of file normalsTool.py.

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

Definition at line 109 of file normalsTool.py.

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

Definition at line 164 of file normalsTool.py.

normalsTool.frame_id

Definition at line 182 of file normalsTool.py.

normalsTool.g

Definition at line 188 of file normalsTool.py.

float normalsTool.hue = (marker_id / (len(normals) / size_vec))*color_step+0.0

Definition at line 177 of file normalsTool.py.

normalsTool.id

Definition at line 181 of file normalsTool.py.

normalsTool.marker = Marker()

Definition at line 180 of file normalsTool.py.

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.

normalsTool.markerArray = MarkerArray()

Definition at line 169 of file normalsTool.py.

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

Definition at line 145 of file normalsTool.py.

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.

normalsTool.ns

Definition at line 183 of file normalsTool.py.

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.

normalsTool.pan_max = rospy.get_param('pan')[1]

Definition at line 119 of file normalsTool.py.

normalsTool.pan_min = rospy.get_param('pan')[0]

Definition at line 118 of file normalsTool.py.

normalsTool.point_end = Point()

Definition at line 193 of file normalsTool.py.

normalsTool.point_start = Point()

Definition at line 192 of file normalsTool.py.

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

Definition at line 115 of file normalsTool.py.

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

Definition at line 124 of file normalsTool.py.

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

Definition at line 126 of file normalsTool.py.

normalsTool.r

Definition at line 187 of file normalsTool.py.

normalsTool.rate = rospy.Rate(publish_rate)

Definition at line 207 of file normalsTool.py.

normalsTool.result_normal = matrix_vector_mult(rot_mat_trans, new_normal)

Definition at line 146 of file normalsTool.py.

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

Definition at line 178 of file normalsTool.py.

normalsTool.rospack = rospkg.RosPack()

Definition at line 106 of file normalsTool.py.

normalsTool.rot_mat = get_rotation_matrix(an_x, 0.0, 0.0)

Definition at line 131 of file normalsTool.py.

normalsTool.rot_mat_trans = get_rotation_matrix(-an_x, 0.0, 0.0)

Definition at line 132 of file normalsTool.py.

normalsTool.size_vec = len(base_vectors)

Definition at line 171 of file normalsTool.py.

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

Definition at line 139 of file normalsTool.py.

normalsTool.tilt_max = rospy.get_param('tilt')[1]

Definition at line 121 of file normalsTool.py.

normalsTool.tilt_min = rospy.get_param('tilt')[0]

Definition at line 120 of file normalsTool.py.

normalsTool.type

Definition at line 200 of file normalsTool.py.

normalsTool.x

Definition at line 184 of file normalsTool.py.

normalsTool.y

Definition at line 185 of file normalsTool.py.

normalsTool.yamlfile = load(f)

Definition at line 110 of file normalsTool.py.

normalsTool.z

Definition at line 186 of file normalsTool.py.