run_segmentation_PR2 Namespace Reference

Functions
def	create_default_scan_dataset
def	define_ROI_polygons
	MAKE SURE THAT THESE MATCH ORIGINAL TAKE: CROP CAMERA IMAGE TO RIO.
def	show_image
Variables
tuple	ac = acquire_pr2_data.AcquireCloud()
	CalibrationVisual = True
tuple	cfg = configuration.configuration(DATA_LOCATION, ROBOT)
	CHANGE THIS TO THE DIRECTORY WITH RESULTS FROM CODY: change 'codyRobot' to 'dummyScanner' or code tries to find camera drivers, etc.
	colors = pc.map_polys
tuple	crop_region = (0.3,0.3,0.3,0.3)
tuple	data = np.asarray(pc.pts3d_bound)
tuple	data_idx = np.where(np.asarray(pc.map_polys) == processor.LABEL_SURFACE)
tuple	DATA_LOCATION = roslib.packages.get_pkg_dir('clutter_segmentation')
string	DATASET_ID = 'pr2_example_0003'
	displayOn = True
tuple	feature_data = pc.generate_features(NUMBER_OF_POINTS,False, True)
string	filename = 'data/'
	h = image_size.height
tuple	image_size = cv.cvGetSize(pc.img)
	pc.map = (pc.camPts_bound, pc.camPts, pc.idx_list, pc.pts3d_bound,pc.scan_indices_bound, pc.intensities_bound)
	IS_LABELED = True
string	MODE = 'all_post'
tuple	N = len(idx_list)
tuple	Nbound = len( idx_list[idx_list] )
int	NUMBER_OF_POINTS = 2000
float	object_height = 0.1
	Placement routine.
tuple	overlay_img = pc.draw_mapped_laser_into_image(None, pc.pts3d, pc.img)
tuple	pc = processor.processor(cfg)
tuple	pl = Placement(pc, resolution)
	object_height = 0.1
tuple	placement_point = pl.test_placement(polygon, object_height)
	REPLACE WITH MY OWN CLASS DEFINITION WITH FUNCTIONs.
tuple	polygon = label_object()
tuple	polygon_labels = list(1 for x in range(m))
	pc.display_3d('labels')###
tuple	pub = rospy.Publisher('labeled_cloud', PointCloud)
list	resolution = [.01*SCALE, .01*SCALE]
string	ROBOT = 'PR2'
	SAVE_INTENSITY_IMAGE = False
	SAVE_UNUSED_NEIGHBORS_TO = False
	pc.display_all_data()###
int	SCALE = 1
	SHOW_IN_ROS = True
	previously 1000, False,True
tuple	table_height = np.mean(data, axis=1)
	USE_POLYGONS = True
	w = image_size.width
int	z_above_floor = 0

---

Function Documentation

def run_segmentation_PR2.create_default_scan_dataset	(		unique_id = DATASET_ID,
			z_above_floor = 1.32
	)

Definition at line 109 of file run_segmentation_PR2.py.

def run_segmentation_PR2.define_ROI_polygons	(		w,
			h,
			crop_regions
	)

MAKE SURE THAT THESE MATCH ORIGINAL TAKE: CROP CAMERA IMAGE TO RIO.

# Create dummy edges for placement
# Note this assumes we will be using a SQUARE region of interest -- not true in general.
Usage: 
    w = image_size.width; h = image_size.height
    crop_region = (0.2,0.1,.2,.1) # % to crop left, crop right, crop top, crop bot
    surface_ROI, list_of_edges = define_ROI_polygons(w, h, crop_region) 
    pc.scan_dataset.polygons.append(surface_ROI)
    for p in list_of_edges: pc.scan_dataset.polygons.append(p)

Definition at line 129 of file run_segmentation_PR2.py.

def run_segmentation_PR2.show_image	(		window_name,
			img,
			wait = False
	)

Definition at line 165 of file run_segmentation_PR2.py.

---

Variable Documentation

tuple run_segmentation_PR2::ac = acquire_pr2_data.AcquireCloud()

Definition at line 199 of file run_segmentation_PR2.py.

run_segmentation_PR2::CalibrationVisual = True

Definition at line 95 of file run_segmentation_PR2.py.

tuple run_segmentation_PR2::cfg = configuration.configuration(DATA_LOCATION, ROBOT)

CHANGE THIS TO THE DIRECTORY WITH RESULTS FROM CODY: change 'codyRobot' to 'dummyScanner' or code tries to find camera drivers, etc.

Definition at line 178 of file run_segmentation_PR2.py.

run_segmentation_PR2::colors = pc.map_polys

Definition at line 328 of file run_segmentation_PR2.py.

tuple run_segmentation_PR2::crop_region = (0.3,0.3,0.3,0.3)

Definition at line 232 of file run_segmentation_PR2.py.

tuple run_segmentation_PR2::data = np.asarray(pc.pts3d_bound)

Definition at line 339 of file run_segmentation_PR2.py.

tuple run_segmentation_PR2::data_idx = np.where(np.asarray(pc.map_polys) == processor.LABEL_SURFACE)

Definition at line 338 of file run_segmentation_PR2.py.

tuple run_segmentation_PR2::DATA_LOCATION = roslib.packages.get_pkg_dir('clutter_segmentation')

Definition at line 77 of file run_segmentation_PR2.py.

string run_segmentation_PR2::DATASET_ID = 'pr2_example_0003'

Definition at line 76 of file run_segmentation_PR2.py.

run_segmentation_PR2::displayOn = True

Definition at line 102 of file run_segmentation_PR2.py.

tuple run_segmentation_PR2::feature_data = pc.generate_features(NUMBER_OF_POINTS,False, True)

Definition at line 294 of file run_segmentation_PR2.py.

string run_segmentation_PR2::filename = 'data/'

Definition at line 349 of file run_segmentation_PR2.py.

run_segmentation_PR2::h = image_size.height

Definition at line 231 of file run_segmentation_PR2.py.

tuple run_segmentation_PR2::image_size = cv.cvGetSize(pc.img)

pc.map = (pc.camPts_bound, pc.camPts, pc.idx_list, pc.pts3d_bound,pc.scan_indices_bound, pc.intensities_bound)

Definition at line 229 of file run_segmentation_PR2.py.

run_segmentation_PR2::IS_LABELED = True

Definition at line 92 of file run_segmentation_PR2.py.

string run_segmentation_PR2::MODE = 'all_post'

Definition at line 97 of file run_segmentation_PR2.py.

tuple run_segmentation_PR2::N = len(idx_list)

Definition at line 207 of file run_segmentation_PR2.py.

tuple run_segmentation_PR2::Nbound = len( idx_list[idx_list] )

Definition at line 208 of file run_segmentation_PR2.py.

int run_segmentation_PR2::NUMBER_OF_POINTS = 2000

Definition at line 90 of file run_segmentation_PR2.py.

float run_segmentation_PR2::object_height = 0.1

Placement routine.

Definition at line 380 of file run_segmentation_PR2.py.

tuple run_segmentation_PR2::overlay_img = pc.draw_mapped_laser_into_image(None, pc.pts3d, pc.img)

Definition at line 256 of file run_segmentation_PR2.py.

tuple run_segmentation_PR2::pc = processor.processor(cfg)

Definition at line 179 of file run_segmentation_PR2.py.

tuple run_segmentation_PR2::pl = Placement(pc, resolution)

object_height = 0.1

Definition at line 392 of file run_segmentation_PR2.py.

tuple run_segmentation_PR2::placement_point = pl.test_placement(polygon, object_height)

REPLACE WITH MY OWN CLASS DEFINITION WITH FUNCTIONs.

Definition at line 395 of file run_segmentation_PR2.py.

tuple run_segmentation_PR2::polygon = label_object()

Definition at line 384 of file run_segmentation_PR2.py.

tuple run_segmentation_PR2::polygon_labels = list(1 for x in range(m))

pc.display_3d('labels')###

Definition at line 278 of file run_segmentation_PR2.py.

tuple run_segmentation_PR2::pub = rospy.Publisher('labeled_cloud', PointCloud)

Definition at line 323 of file run_segmentation_PR2.py.

list run_segmentation_PR2::resolution = [.01*SCALE, .01*SCALE]

Definition at line 382 of file run_segmentation_PR2.py.

string run_segmentation_PR2::ROBOT = 'PR2'

Definition at line 74 of file run_segmentation_PR2.py.

run_segmentation_PR2::SAVE_INTENSITY_IMAGE = False

Definition at line 94 of file run_segmentation_PR2.py.

run_segmentation_PR2::SAVE_UNUSED_NEIGHBORS_TO = False

pc.display_all_data()###

Definition at line 290 of file run_segmentation_PR2.py.

int run_segmentation_PR2::SCALE = 1

Definition at line 91 of file run_segmentation_PR2.py.

run_segmentation_PR2::SHOW_IN_ROS = True

previously 1000, False,True

pc.display_3d('all')### Labels are now generated --> can be saved to file? pc.display_3d('baseline')###

Definition at line 319 of file run_segmentation_PR2.py.

tuple run_segmentation_PR2::table_height = np.mean(data, axis=1)

Definition at line 340 of file run_segmentation_PR2.py.

run_segmentation_PR2::USE_POLYGONS = True

Definition at line 93 of file run_segmentation_PR2.py.

run_segmentation_PR2::w = image_size.width

Definition at line 230 of file run_segmentation_PR2.py.

int run_segmentation_PR2::z_above_floor = 0

Definition at line 81 of file run_segmentation_PR2.py.