Classes
class	processor
Functions
def	apply_transform_matrix
def	check_3d_plane_point
def	collect_and_save_testresults_crossvalidation
def	create_combined_polygon_image
def	create_polygon_images
def	display_3d
def	draw_3d
def	draw_3d_axis
def	draw_plane
def	draw_vector
def	generate_and_save_visualizations
def	generate_and_save_visualizations_all
def	generate_and_save_visualizations_height
def	generate_features
def	generate_save_features
def	get_3d_plane_normal
def	get_3d_point
def	get_3d_point_index
def	get_Classifier_labels_filename
def	get_features_filename
def	get_groundplane_translation
def	get_point_label
def	get_voi_indices_fancy
def	load_classifier_and_test_on_dataset
def	load_Classifier_labels
def	load_Classifiers
def	load_metadata
def	load_testresults_all
def	load_testresults_all_crossvalidation_fold
def	load_testresults_crossvalidation
def	plot_axis
def	plot_s_h_probabilities
def	polt_color_scatterplots_2d
def	print_testrestults_crossvalidation_latex
def	print_testresults_all_latex
def	process_intensities
def	process_labels
def	process_masks
def	process_raw_data
def	read_artag
def	rotate_pointcloud_match_groundplane
def	rotate_to_plane
def	save_3d
def	save_all_labeled_pointclouds
def	save_classifier_labels
def	save_intensity_image
def	save_labels_image
def	save_mapped_image
def	save_masks_image
def	save_testresults_all
def	save_testresults_all_crossvalidation_fold
def	save_testresults_crossvalidation
def	test_Classifiers
def	test_classifiers_on_testset
def	test_crossvalidation_on_valid_scans
def	train_and_save_Classifiers
def	update_test_postprocessing_on_testset
def	xyzToHomogenous
def	z_translate_pointcloud_groundplane
Variables
	combined_polygon_image
int	count = 0
tuple	dict = ut.load_pickle(filename)
tuple	factor = np.divide(np.ones(len(range_hist_surface_plot)),max)
tuple	fig_range = plt.figure()
tuple	filename = self.get_features_filename()
	first_loop_run = True
tuple	fv_range = (dict['features'][count])
tuple	idx = np.asarray(range(len(self.features.get_indexvector('range'))))
	img_intensities
	img_labels
int	LABEL_CLUTTER = 2
int	LABEL_NONE = 0
int	LABEL_ROI = 3
int	LABEL_SURFACE = 1
string	LOC_ARTAGS_LIB = "/home/martin/artags/ARToolKitPlus_2.1.1/lib:/usr/local/lib:"
string	LOC_ARTAGS_SIMPLE = "/home/martin/artags/ARToolKitPlus_2.1.1/bin/simple"
	loop_condition = True
	map_polys
	mlab.points3d(self.pts3d_bound[0,:].A1,self.pts3d_bound[1,:].A1,self.pts3d_bound[2,:].A1,self.map_polys,mode='point',scale_factor=0.01,colormap='jet')#,colormap='winter'
tuple	max = np.maximum(np.maximum(np.maximum(range_hist_surface_plot,range_hist_clutter_plot),range_hist_surface_std),range_hist_clutter_std)
	MLAB_LOADED = True
tuple	plot1 = plt.bar(idx,range_hist_surface_plot,width,yerr=range_hist_surface_std,color='g')
tuple	plot2 = plt.bar(idx+width,range_hist_clutter_plot,width,yerr=range_hist_clutter_std,color='r')
string	plt_filename = '/range_features.png'
	pts3d
	pts3d_bound
tuple	range_hist_clutter_plot = np.multiply(range_hist_clutter_plot,factor)
int	range_hist_clutter_std = 0
tuple	range_hist_surface_plot = np.multiply(range_hist_surface_plot,factor)
int	range_hist_surface_std = 0
	plot normals sphere:##
	scan_dataset
	scans_database
float	width = 0.35

Function Documentation

def processor.apply_transform_matrix	(	T,
		p
	)

This appears multiply a Transform matrix by a 3xN-element point or point set.
   Note that xyzToHomogenous is made to convert 3XN matrix, to 4XN matrix in homogenous coords

Definition at line 108 of file processor.py.

def processor.check_3d_plane_point	(	self,
		point2d
	)

Definition at line 1862 of file processor.py.

def processor.collect_and_save_testresults_crossvalidation	(	self,
		folds
	)

Definition at line 2155 of file processor.py.

def processor.create_combined_polygon_image ( self )

Definition at line 1788 of file processor.py.

def processor.create_polygon_images ( self )

Definition at line 1747 of file processor.py.

def processor.display_3d	(	self,
		type,
		spheres = `False`,
		new_figure = `True`
	)

Definition at line 1568 of file processor.py.

def processor.draw_3d	(	self,
		type,
		spheres = `False`,
		new_figure = `True`
	)

Definition at line 1464 of file processor.py.

def processor.draw_3d_axis	(	self,
		scale
	)

Definition at line 1626 of file processor.py.

def processor.draw_plane	(	table_plane_normal,
		table_plane_point
	)

Definition at line 128 of file processor.py.

def processor.draw_vector	(	self,
		v1,
		v2,
		scale,
		color = `(1,1`
	)

Definition at line 1622 of file processor.py.

def processor.generate_and_save_visualizations	(	self,
		id
	)

Definition at line 2480 of file processor.py.

def processor.generate_and_save_visualizations_all ( self )

Definition at line 2492 of file processor.py.

def processor.generate_and_save_visualizations_height ( self )

Definition at line 2504 of file processor.py.

def processor.generate_features	(	self,
		training_size_per_scan = `999999999999`,
		generate_and_save_all_neightborhood_indices = `False`,
		regenerate_neightborhood_indices = `False`
	)

Definition at line 1977 of file processor.py.

def processor.generate_save_features	(	self,
		generate_and_save_all_neightborhood_indices = `False`,
		regenerate_neightborhood_indices = `False`
	)

Definition at line 1926 of file processor.py.

def processor.get_3d_plane_normal	(	self,
		image_points
	)

Definition at line 1831 of file processor.py.

def processor.get_3d_point	(	self,
		point2d
	)

Definition at line 1816 of file processor.py.

def processor.get_3d_point_index	(	self,
		image_point
	)

Definition at line 1809 of file processor.py.

def processor.get_Classifier_labels_filename	(	self,
		features
	)

Definition at line 2549 of file processor.py.

def processor.get_features_filename	(	self,
		state_exclude_edges = `False`
	)

Definition at line 2037 of file processor.py.

def processor.get_groundplane_translation ( self )

Definition at line 1909 of file processor.py.

def processor.get_point_label	(	self,
		index
	)

Definition at line 2530 of file processor.py.

def processor.get_voi_indices_fancy	(	pts,
		poi,
		depth,
		width,
		height
	)

Definition at line 86 of file processor.py.

def processor.load_classifier_and_test_on_dataset	(	self,
		features,
		feature_data
	)

Definition at line 2193 of file processor.py.

def processor.load_Classifier_labels	(	self,
		features
	)

Definition at line 2542 of file processor.py.

def processor.load_Classifiers ( self )

Definition at line 2057 of file processor.py.

def processor.load_metadata	(	self,
		id,
		reload_database = `True`
	)

Definition at line 1730 of file processor.py.

def processor.load_testresults_all ( self )

Definition at line 2304 of file processor.py.

def processor.load_testresults_all_crossvalidation_fold	(	self,
		fold
	)

Definition at line 2174 of file processor.py.

def processor.load_testresults_crossvalidation ( self )

Definition at line 2186 of file processor.py.

def processor.plot_axis	(	self,
		x,
		y,
		z,
		directions,
		scale = `1`
	)

Definition at line 1455 of file processor.py.

def processor.plot_s_h_probabilities	(	self,
		s_surface,
		h_surface,
		s_clutter,
		h_clutter
	)

Definition at line 1387 of file processor.py.

def processor.polt_color_scatterplots_2d	(	self,
		x,
		y,
		xlabel,
		ylabel,
		colors_plot,
		alpha = `0.02`
	)

Definition at line 1372 of file processor.py.

def processor.print_testrestults_crossvalidation_latex	(	self,
		testresults_crossvalidation
	)

Definition at line 2396 of file processor.py.

def processor.print_testresults_all_latex	(	self,
		testresults_all
	)

Definition at line 2309 of file processor.py.

def processor.process_intensities ( self )

Definition at line 1679 of file processor.py.

def processor.process_labels	(	self,
		features
	)

Definition at line 1685 of file processor.py.

def processor.process_masks	(	self,
		features,
		show_clutter = `False`
	)

Definition at line 1690 of file processor.py.

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

Definition at line 1675 of file processor.py.

def processor.read_artag	(	self,
		img
	)

Definition at line 1633 of file processor.py.

def processor.rotate_pointcloud_match_groundplane ( self )

Definition at line 1875 of file processor.py.

def processor.rotate_to_plane	(	normal,
		points
	)

Definition at line 95 of file processor.py.

def processor.save_3d	(	self,
		type,
		spheres = `False`
	)

Definition at line 1559 of file processor.py.

def processor.save_all_labeled_pointclouds ( self )

Definition at line 2554 of file processor.py.

def processor.save_classifier_labels	(	self,
		labels,
		testresults,
		features
	)

Definition at line 2534 of file processor.py.

def processor.save_intensity_image	(	self,
		name
	)

Definition at line 1700 of file processor.py.

def processor.save_labels_image	(	self,
		features
	)

Definition at line 1710 of file processor.py.

def processor.save_mapped_image	(	self,
		name
	)

Definition at line 1695 of file processor.py.

def processor.save_masks_image	(	self,
		features,
		show_clutter = `False`
	)

Definition at line 1717 of file processor.py.

def processor.save_testresults_all	(	self,
		testresults_all
	)

Definition at line 2298 of file processor.py.

def processor.save_testresults_all_crossvalidation_fold	(	self,
		testresults_all,
		fold
	)

Definition at line 2168 of file processor.py.

def processor.save_testresults_crossvalidation	(	self,
		testresults_crossvalidation
	)

Definition at line 2180 of file processor.py.

def processor.test_Classifiers ( self )

Definition at line 2516 of file processor.py.

def processor.test_classifiers_on_testset ( self )

Definition at line 2212 of file processor.py.

def processor.test_crossvalidation_on_valid_scans	(	self,
		fold = `None`,
		update_postprocess = `False`
	)

Definition at line 2064 of file processor.py.

def processor.train_and_save_Classifiers ( self )

Definition at line 2043 of file processor.py.

def processor.update_test_postprocessing_on_testset ( self )

Definition at line 2255 of file processor.py.

def processor.xyzToHomogenous	(	v,
		floating_vector = `False`
	)

This is redundantly defined in hrl_lib.transforms.py, as part of gt-ros-pkg
   convert 3XN matrix, to 4XN matrix in homogenous coords

Definition at line 117 of file processor.py.

def processor.z_translate_pointcloud_groundplane ( self )

Definition at line 1902 of file processor.py.

Variable Documentation

processor::combined_polygon_image

Definition at line 1788 of file processor.py.

int processor::count = 0

Definition at line 1300 of file processor.py.

tuple processor::dict = ut.load_pickle(filename)

Definition at line 1316 of file processor.py.

tuple processor::factor = np.divide(np.ones(len(range_hist_surface_plot)),max)

Definition at line 1349 of file processor.py.

tuple processor::fig_range = plt.figure()

Definition at line 1344 of file processor.py.

tuple processor::filename = self.get_features_filename()

Definition at line 1315 of file processor.py.

processor::first_loop_run = True

Definition at line 1298 of file processor.py.

tuple processor::fv_range = (dict['features'][count])

Definition at line 1321 of file processor.py.

tuple processor::idx = np.asarray(range(len(self.features.get_indexvector('range'))))

Definition at line 1338 of file processor.py.

processor::img_intensities

Definition at line 1679 of file processor.py.

processor::img_labels

Definition at line 1685 of file processor.py.

int processor::LABEL_CLUTTER = 2

Definition at line 81 of file processor.py.

int processor::LABEL_NONE = 0

Definition at line 79 of file processor.py.

int processor::LABEL_ROI = 3

Definition at line 82 of file processor.py.

int processor::LABEL_SURFACE = 1

Definition at line 80 of file processor.py.

string processor::LOC_ARTAGS_LIB = "/home/martin/artags/ARToolKitPlus_2.1.1/lib:/usr/local/lib:"

Definition at line 33 of file processor.py.

string processor::LOC_ARTAGS_SIMPLE = "/home/martin/artags/ARToolKitPlus_2.1.1/bin/simple"

Definition at line 32 of file processor.py.

processor::loop_condition = True

Definition at line 1297 of file processor.py.

processor::map_polys

mlab.points3d(self.pts3d_bound[0,:].A1,self.pts3d_bound[1,:].A1,self.pts3d_bound[2,:].A1,self.map_polys,mode='point',scale_factor=0.01,colormap='jet')#,colormap='winter'

self.map2d = np.asarray(self.camPts_bound) create HSV numpy images: compute the hsv version of the image

Definition at line 1468 of file processor.py.