Public Member Functions
def	__init__
def	calculate_and_save_ground_and_table_transformations_for_all_scans
def	create_intensity_image
def	create_pointcloud
def	create_polygon_labels
def	display_all_data
def	display_featurevector
def	display_intensities
def	display_segmentation_image
def	display_stats
def	do_all_laser_image_mapping
def	do_all_point_cloud
def	do_all_point_cloud_mapping
def	do_polygon_mapping
def	draw_mapped_labels_into_image
def	draw_mapped_laser_into_image
def	draw_mapped_laser_polygons_into_image
def	draw_mapped_masks_into_image
def	get_intensity_image
def	get_mean_table_plane_height_from_labels
def	get_ransac_table_plane_from_labels
def	load_data
def	load_raw_data
def	load_raw_PR2_data
def	map_image_point_on_3d_plane
def	map_laser_into_cam_2D
def	map_polygons_into_laser
def	remove_labels_from_low_points
def	save_segmentation_image
def	truncate_pointcloud_to_voi
Public Attributes
	artag_transformation
	camPts
	imgTmp = cv.cvCloneImage(img) imNP = cv.adaptors.Ipl2NumPy(imgTmp)
	camPts_bound
	config
	idx_list
	idx_voi
	image_angle
	img
	img_artag
	img_intensities
	img_labels
	img_mapped
	Evaluate camPts, map2d, etc.
	img_mapped_polygons
	intensities
	intensities_bound
	laserscans
	map
	map2d
	map_polys
	pts3d
	pts3d_bound
	scan_dataset
	scan_indices
	scan_indices_bound
	scans_database
Static Public Attributes
int	classifier_training_size = 900000000
	classifiers = None
tuple	colors_plot = np.asarray(colors_plot)
dictionary	dict
int	feature_neighborhood = 20
float	feature_radius = 0.03
string	feature_type = 'gaussian_histograms'
	features = None
int	features_k_nearest_neighbors = 50
tuple	fig_heights = plt.figure()
float	ground_exclude_threshold = 0.3
tuple	h_values_plot = np.asarray(h_values_plot)
tuple	hist = np.histogram(measured_table_heights,10)
tuple	normals_label = np.asarray(normals_label)
list	normals_label = normals_label[rand_idx]
tuple	normals_x = np.asarray(normals_x)
list	normals_x = normals_x[rand_idx]
tuple	normals_y = np.asarray(normals_y)
list	normals_y = normals_y[rand_idx]
tuple	normals_z = np.asarray(normals_z)
list	normals_z = normals_z[rand_idx]
tuple	plot1 = plt.bar(hist[1][0:-1],hist[0],width=3)
string	plt_filename = '/table_heights.png'
tuple	point_of_interest = np.array([0.8,0.0,1.0])
	pts = None
tuple	rand_idx = np.array(random.sample(xrange(len(normals_label)),sampel_size))
list	rgb = rgb_plot[colors_plot == 1]
tuple	rgb_plot = np.array(rgb_plot)
	rgb_plot += [[0,0,0]] mlab.figure(fgcolor=(0, 0, 0), bgcolor=(1, 1, 1)) print 'lens',len(h_values_plot),len(s_values_plot),len(v_values_plot),len(i_values_plot),len(colors_plot) plot = mlab.points3d(np.asarray(h_values_plot),np.asarray(s_values_plot), np.asarray(v_values_plot), np.asarray(colors_plot),mode='point',resolution=4,scale_mode='none',scale_factor=0.01) mlab.outline(plot, color=(.7, .7, .7)) mlab.xlabel('h') mlab.ylabel('s') mlab.zlabel('v') mlab.colorbar()
tuple	s_values_plot = np.asarray(s_values_plot)
tuple	sampel_size = min(len(normals_label),500000)
tuple	v_values_plot = np.asarray(v_values_plot)
float	voi_width = 1.4
	x = s_values_plot
list	x = s_values_plot[colors_plot == 1]
string	xlabel = 's'
	y = h_values_plot
list	y = h_values_plot[colors_plot == 1]
string	ylabel = 'h'

Detailed Description

classdocs

Definition at line 174 of file processor.py.

Constructor & Destructor Documentation

def processor.processor.__init__	(	self,
		configuration
	)

Constructor

Definition at line 202 of file processor.py.

Member Function Documentation

def processor.processor.calculate_and_save_ground_and_table_transformations_for_all_scans	(	self,
		use_RANSAC_table_plane = `True`
	)

Definition at line 333 of file processor.py.

def processor.processor.create_intensity_image	(	self,
		laserscan
	)

Definition at line 764 of file processor.py.

def processor.processor.create_pointcloud	(	self,
		laserscans,
		reject_zero_ten = `True`,
		get_intensities = `True`
	)

Definition at line 237 of file processor.py.

def processor.processor.create_polygon_labels	(	self,
		map = `None`,
		exclude_edges = `False`
	)

Definition at line 709 of file processor.py.

def processor.processor.display_all_data ( self )

Definition at line 876 of file processor.py.

def processor.processor.display_featurevector	(	self,
		featurevector
	)

Definition at line 920 of file processor.py.

def processor.processor.display_intensities ( self )

Definition at line 914 of file processor.py.

def processor.processor.display_segmentation_image	(	self,
		feature_type = `'all_post'`
	)

Definition at line 897 of file processor.py.

def processor.processor.display_stats	(	self,
		global_stats = `False`
	)

Definition at line 929 of file processor.py.

def processor.processor.do_all_laser_image_mapping	(	self,
		translate = `True`
	)

Definition at line 781 of file processor.py.

def processor.processor.do_all_point_cloud	(	self,
		map_already_exists = `False`
	)

Definition at line 830 of file processor.py.

def processor.processor.do_all_point_cloud_mapping	(	self,
		exclude_edges = `False`
	)

Definition at line 804 of file processor.py.

def processor.processor.do_polygon_mapping	(	self,
		exclude_edges = `False`
	)

Definition at line 809 of file processor.py.

def processor.processor.draw_mapped_labels_into_image	(	self,
		type
	)

Definition at line 585 of file processor.py.

def processor.processor.draw_mapped_laser_into_image	(	self,
		map,
		pts3d,
		img
	)

colormap points in image
   Note: map[2] == self.idx_list #array of indices inside bounds

Definition at line 504 of file processor.py.

def processor.processor.draw_mapped_laser_polygons_into_image	(	self,
		map,
		pts3d,
		img
	)

Definition at line 635 of file processor.py.

def processor.processor.draw_mapped_masks_into_image	(	self,
		feature_type,
		show_clutter = `False`
	)

@author: Jason Okerman
   prints either clutter or surface points on a black backdrop for use

Definition at line 525 of file processor.py.

def processor.processor.get_intensity_image ( self )

Definition at line 911 of file processor.py.

def processor.processor.get_mean_table_plane_height_from_labels ( self )

Definition at line 382 of file processor.py.

def processor.processor.get_ransac_table_plane_from_labels ( self )

Definition at line 306 of file processor.py.

def processor.processor.load_data	(	self,
		name,
		reload_database = `True`
	)

Definition at line 845 of file processor.py.

def processor.processor.load_raw_data	(	self,
		name
	)

Definition at line 865 of file processor.py.

def processor.processor.load_raw_PR2_data	(	self,
		unique_name = `''`
	)

Definition at line 853 of file processor.py.

def processor.processor.map_image_point_on_3d_plane	(	self,
		point,
		ground_plane_rotation,
		ground_plane_translation,
		table_plane_translation
	)

Definition at line 388 of file processor.py.

def processor.processor.map_laser_into_cam_2D	(	self,
		pts3d,
		img,
		scan_indices,
		intensities
	)

Definition at line 459 of file processor.py.

def processor.processor.map_polygons_into_laser	(	self,
		map = `None`
	)

Definition at line 672 of file processor.py.

def processor.processor.remove_labels_from_low_points ( self )

Definition at line 756 of file processor.py.

def processor.processor.save_segmentation_image	(	self,
		feature_type = `'all_post'`,
		suffix = `None`
	)

Definition at line 904 of file processor.py.

def processor.processor.truncate_pointcloud_to_voi	(	self,
		poi,
		depth,
		width,
		height
	)

Definition at line 281 of file processor.py.

Member Data Documentation

processor.processor::artag_transformation

Definition at line 204 of file processor.py.

processor.processor::camPts

imgTmp = cv.cvCloneImage(img) imNP = cv.adaptors.Ipl2NumPy(imgTmp)

Definition at line 461 of file processor.py.

processor.processor::camPts_bound

Definition at line 281 of file processor.py.

int processor.processor::classifier_training_size = 900000000 [static]

Definition at line 188 of file processor.py.

processor.processor::classifiers = None [static]

Definition at line 180 of file processor.py.

tuple processor.processor::colors_plot = np.asarray(colors_plot) [static]

Definition at line 1121 of file processor.py.

processor.processor::config

Definition at line 204 of file processor.py.

dictionary processor.processor::dict [static]

Initial value:

{'s_surface':s_values_plot[colors_plot == 1], 
                'h_surface':h_values_plot[colors_plot == 1],
                's_clutter':s_values_plot[colors_plot == 2], 
                'h_clutter':h_values_plot[colors_plot == 2]
                }

Definition at line 1127 of file processor.py.

int processor.processor::feature_neighborhood = 20 [static]

Definition at line 185 of file processor.py.

float processor.processor::feature_radius = 0.03 [static]

Definition at line 186 of file processor.py.

string processor.processor::feature_type = 'gaussian_histograms' [static]

Definition at line 184 of file processor.py.

processor.processor::features = None [static]

Definition at line 182 of file processor.py.

int processor.processor::features_k_nearest_neighbors = 50 [static]

Definition at line 199 of file processor.py.

tuple processor.processor::fig_heights = plt.figure() [static]

Definition at line 1218 of file processor.py.

float processor.processor::ground_exclude_threshold = 0.3 [static]

Definition at line 195 of file processor.py.

tuple processor.processor::h_values_plot = np.asarray(h_values_plot) [static]

Definition at line 1120 of file processor.py.

tuple processor.processor::hist = np.histogram(measured_table_heights,10) [static]

Definition at line 1224 of file processor.py.

processor.processor::idx_list

Definition at line 461 of file processor.py.

processor.processor::idx_voi

Definition at line 281 of file processor.py.

processor.processor::image_angle

Definition at line 853 of file processor.py.

processor.processor::img

Definition at line 853 of file processor.py.

processor.processor::img_artag

Definition at line 204 of file processor.py.

processor.processor::img_intensities

Definition at line 786 of file processor.py.

processor.processor::img_labels

Definition at line 897 of file processor.py.

processor.processor::img_mapped

Evaluate camPts, map2d, etc.

#Formerly:self.map = ... self.pts3d_bound = np.asarray(self.map[3])

Definition at line 786 of file processor.py.

processor.processor::img_mapped_polygons

Definition at line 786 of file processor.py.

processor.processor::intensities

Definition at line 853 of file processor.py.

processor.processor::intensities_bound

Definition at line 281 of file processor.py.

processor.processor::laserscans

Definition at line 853 of file processor.py.

processor.processor::map

Definition at line 204 of file processor.py.

processor.processor::map2d

Definition at line 281 of file processor.py.

processor.processor::map_polys

Definition at line 756 of file processor.py.

tuple processor.processor::normals_label = np.asarray(normals_label) [static]

Definition at line 1245 of file processor.py.

list processor.processor::normals_label = normals_label[rand_idx] [static]

Definition at line 1253 of file processor.py.

tuple processor.processor::normals_x = np.asarray(normals_x) [static]

Definition at line 1242 of file processor.py.

list processor.processor::normals_x = normals_x[rand_idx] [static]

Definition at line 1250 of file processor.py.

tuple processor.processor::normals_y = np.asarray(normals_y) [static]

Definition at line 1243 of file processor.py.

list processor.processor::normals_y = normals_y[rand_idx] [static]

Definition at line 1251 of file processor.py.

tuple processor.processor::normals_z = np.asarray(normals_z) [static]

Definition at line 1244 of file processor.py.

list processor.processor::normals_z = normals_z[rand_idx] [static]

Definition at line 1252 of file processor.py.

tuple processor.processor::plot1 = plt.bar(hist[1][0:-1],hist[0],width=3) [static]

Definition at line 1225 of file processor.py.

string processor.processor::plt_filename = '/table_heights.png' [static]

Definition at line 1227 of file processor.py.

tuple processor.processor::point_of_interest = np.array([0.8,0.0,1.0]) [static]

Definition at line 191 of file processor.py.

processor.processor::pts = None [static]

Definition at line 178 of file processor.py.

processor.processor::pts3d

Definition at line 853 of file processor.py.

processor.processor::pts3d_bound

Definition at line 281 of file processor.py.

tuple processor.processor::rand_idx = np.array(random.sample(xrange(len(normals_label)),sampel_size)) [static]

Definition at line 1248 of file processor.py.

list processor.processor::rgb = rgb_plot[colors_plot == 1] [static]

Definition at line 1145 of file processor.py.

tuple processor.processor::rgb_plot = np.array(rgb_plot) [static]

rgb_plot += [[0,0,0]] mlab.figure(fgcolor=(0, 0, 0), bgcolor=(1, 1, 1)) print 'lens',len(h_values_plot),len(s_values_plot),len(v_values_plot),len(i_values_plot),len(colors_plot) plot = mlab.points3d(np.asarray(h_values_plot),np.asarray(s_values_plot), np.asarray(v_values_plot), np.asarray(colors_plot),mode='point',resolution=4,scale_mode='none',scale_factor=0.01) mlab.outline(plot, color=(.7, .7, .7)) mlab.xlabel('h') mlab.ylabel('s') mlab.zlabel('v') mlab.colorbar()

Definition at line 1116 of file processor.py.

tuple processor.processor::s_values_plot = np.asarray(s_values_plot) [static]

Definition at line 1119 of file processor.py.