Classes
class	ExtractTFData
class	JointMsgConverter
class	SimpleJointStateMsg
Functions
def	assign_3d_to_surf
def	create_frame
	Pose estimation # for each SURF direction, subtract delta_theta from it to get a vote for the direction of the object frame's x axis # average all the predictions to get object's x direction.
def	extract_object_localization_features
	TODO: need some parameters for processing 'model_image', maybe circles of different sizes.
def	extract_object_localization_features2
	TODO: need some parameters for processing 'model_image', maybe circles of different sizes.
def	find3d_surf
def	find_contact_times
	Find times where contact has been made.
def	find_contacts_and_fk
def	playback_bag
def	process_bag
def	project_2d_bounded
def	segment_msgs
Variables
string	arm_used = 'left'
list	experiment_start_condition_pkl = sys.argv[4]
list	full_bag_name = sys.argv[1]
list	model_image_file = sys.argv[3]
list	prosilica_image_file = sys.argv[2]

Function Documentation

def hai_sandbox.bag_processor.assign_3d_to_surf	(	surf_locs,
		point_cloud_3d,
		point_cloud_2d
	)

Parameters:

surf_locs	list of ((x,y), lap, size, dir, hess)
point_cloud_3d	3xn matrix
point_cloud_2d	2xn matrix

Definition at line 209 of file bag_processor.py.

def hai_sandbox.bag_processor.create_frame	(	points3d,
		p = `np.matrix([-1,0`,
		T
	)

Pose estimation # for each SURF direction, subtract delta_theta from it to get a vote for the direction of the object frame's x axis # average all the predictions to get object's x direction.

Definition at line 388 of file bag_processor.py.

def hai_sandbox.bag_processor.extract_object_localization_features	(	start_conditions,
		tflistener
	)

TODO: need some parameters for processing 'model_image', maybe circles of different sizes.

Definition at line 319 of file bag_processor.py.

def hai_sandbox.bag_processor.extract_object_localization_features2	(	start_conditions,
		tflistener,
		arm_used,
		p_base_map
	)

TODO: need some parameters for processing 'model_image', maybe circles of different sizes.

Definition at line 273 of file bag_processor.py.

def hai_sandbox.bag_processor.find3d_surf ( start_conditions )

Definition at line 250 of file bag_processor.py.

def hai_sandbox.bag_processor.find_contact_times	(	left_mat,
		right_mat,
		times,
		thres
	)

Find times where contact has been made.

Returns:: array of locations where contact has been made, array of times for each location where contact has been made (can be duplicated)

Definition at line 58 of file bag_processor.py.

def hai_sandbox.bag_processor.find_contacts_and_fk	(	tflistener,
		arm
	)

Definition at line 223 of file bag_processor.py.

def hai_sandbox.bag_processor.playback_bag ( bag_name )

Definition at line 72 of file bag_processor.py.

def hai_sandbox.bag_processor.process_bag	(	full_bag_name,
		prosilica_image_file,
		model_image_file,
		experiment_start_condition_pkl,
		arm_used = `'left'`
	)