Public Member Functions
def	__init__
def	calculate_and_save_ground_and_table_transformations_for_all_scans
def	check_3d_plane_point
def	collect_and_save_testresults_crossvalidation
def	create_intensity_image
def	create_pointcloud
def	create_polygon_images
def	display_3d
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_3d
def	draw_3d_axis
def	draw_mapped_labels_into_image
def	draw_mapped_laser_into_image
def	draw_mapped_laser_polygons_into_image
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_3d_point_index_in_unrotated
def	get_Classifier_labels_filename
def	get_features_filename
def	get_groundplane_translation
def	get_intensity_image
def	get_mean_table_plane_height_from_labels
def	get_point_label
def	get_ransac_table_plane_from_labels
def	load_classifier_and_test_on_dataset
def	load_Classifier_labels
def	load_Classifiers
def	load_data
def	load_metadata
def	load_raw_data
def	load_testresults_all
def	load_testresults_all_crossvalidation_fold
def	load_testresults_crossvalidation
def	map_image_point_on_3d_plane
def	map_laser_into_cam_2D
def	map_poylgon_labels_into_laser
def	map_poylgons_into_laser
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_raw_data
def	read_artag
def	remove_labels_from_low_points
def	rotate_pointcloud_match_groundplane
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_segmentation_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	truncate_pointcloud_to_voi
def	update_test_postprocessing_on_testset
def	z_translate_pointcloud_groundplane
Public Attributes
	artag_transformation
	config
	image_angle
	img
	img_artag
	img_intensities
	img_labels
	img_mapped
	img_mapped_polygons
	intensities_bound
	kdtree2d
	laserscans
	map
	map2d
	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'
	map_polys
	pts3d_bound
	scan_dataset
	scan_indices_bound
	scans_database
Static Public Attributes
int	classifier_training_size = 900000000
	classifiers = None
tuple	colors_plot = np.asarray(colors_plot)
int	count = 0
dictionary	dict
tuple	dict = ut.load_pickle(filename)
tuple	factor = np.divide(np.ones(len(range_hist_surface_plot)),max)
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()
tuple	fig_range = plt.figure()
tuple	filename = self.get_features_filename()
	first_loop_run = True
tuple	fv_range = (dict['features'][count])
float	ground_exclude_treshold = 0.3
tuple	h_values_plot = np.asarray(h_values_plot)
tuple	hist = np.histogram(measured_table_heights,10)
tuple	idx = np.asarray(range(len(self.features.get_indexvector('range'))))
	loop_condition = True
tuple	max = np.maximum(np.maximum(np.maximum(range_hist_surface_plot,range_hist_clutter_plot),range_hist_surface_std),range_hist_clutter_std)
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)
tuple	plot2 = plt.bar(idx+width,range_hist_clutter_plot,width,yerr=range_hist_clutter_std,color='r')
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))
tuple	range_hist_clutter_plot = np.multiply(range_hist_clutter_plot,factor)
int	range_hist_clutter_std = 0
tuple	range_hist_clutter_std = np.sqrt(range_hist_clutter_std)
tuple	range_hist_surface_plot = np.multiply(range_hist_surface_plot,factor)
int	range_hist_surface_std = 0
	plot normals sphere:###
tuple	range_hist_surface_std = np.sqrt(range_hist_surface_std)
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
float	width = 0.35
	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 122 of file processor.py.

Constructor & Destructor Documentation

def laser_camera_segmentation.processor.processor.__init__	(	self,
		configuration
	)

Constructor

Definition at line 150 of file processor.py.

Member Function Documentation

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

Definition at line 236 of file processor.py.

def laser_camera_segmentation.processor.processor.check_3d_plane_point	(	self,
		point2d
	)

Definition at line 1592 of file processor.py.

def laser_camera_segmentation.processor.processor.collect_and_save_testresults_crossvalidation	(	self,
		folds
	)

Definition at line 1892 of file processor.py.

def laser_camera_segmentation.processor.processor.create_intensity_image	(	self,
		laserscan
	)

Definition at line 563 of file processor.py.

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

Definition at line 174 of file processor.py.

def laser_camera_segmentation.processor.processor.create_polygon_images ( self )

Definition at line 1514 of file processor.py.

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

Definition at line 1362 of file processor.py.

def laser_camera_segmentation.processor.processor.display_all_data ( self )

Definition at line 674 of file processor.py.

def laser_camera_segmentation.processor.processor.display_featurevector	(	self,
		featurevector
	)

Definition at line 717 of file processor.py.

def laser_camera_segmentation.processor.processor.display_intensities ( self )

Definition at line 711 of file processor.py.

def laser_camera_segmentation.processor.processor.display_segmentation_image ( self )

Definition at line 695 of file processor.py.

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

Definition at line 726 of file processor.py.

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

Definition at line 614 of file processor.py.

def laser_camera_segmentation.processor.processor.do_all_point_cloud ( self )

Definition at line 646 of file processor.py.

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

Definition at line 636 of file processor.py.

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

Definition at line 641 of file processor.py.

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

Definition at line 1258 of file processor.py.

def laser_camera_segmentation.processor.processor.draw_3d_axis	(	self,
		scale
	)

Definition at line 1418 of file processor.py.

def laser_camera_segmentation.processor.processor.draw_mapped_labels_into_image	(	self,
		type
	)

Definition at line 413 of file processor.py.

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

Definition at line 383 of file processor.py.

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

Definition at line 453 of file processor.py.

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

Definition at line 1415 of file processor.py.

def laser_camera_segmentation.processor.processor.generate_and_save_visualizations	(	self,
		id
	)

Definition at line 2214 of file processor.py.

def laser_camera_segmentation.processor.processor.generate_and_save_visualizations_all ( self )

Definition at line 2226 of file processor.py.

def laser_camera_segmentation.processor.processor.generate_and_save_visualizations_height ( self )

Definition at line 2240 of file processor.py.

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

Definition at line 1714 of file processor.py.

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

Definition at line 1660 of file processor.py.

def laser_camera_segmentation.processor.processor.get_3d_plane_normal	(	self,
		image_points
	)

Definition at line 1561 of file processor.py.

def laser_camera_segmentation.processor.processor.get_3d_point	(	self,
		point2d
	)

Definition at line 1546 of file processor.py.

def laser_camera_segmentation.processor.processor.get_3d_point_index	(	self,
		image_point
	)

Definition at line 1539 of file processor.py.

def laser_camera_segmentation.processor.processor.get_3d_point_index_in_unrotated	(	self,
		point3d
	)

Definition at line 1550 of file processor.py.

def laser_camera_segmentation.processor.processor.get_Classifier_labels_filename	(	self,
		features
	)

Definition at line 2287 of file processor.py.

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

Definition at line 1774 of file processor.py.

def laser_camera_segmentation.processor.processor.get_groundplane_translation ( self )

Definition at line 1643 of file processor.py.

def laser_camera_segmentation.processor.processor.get_intensity_image ( self )

Definition at line 708 of file processor.py.

def laser_camera_segmentation.processor.processor.get_mean_table_plane_height_from_labels ( self )

Definition at line 285 of file processor.py.

def laser_camera_segmentation.processor.processor.get_point_label	(	self,
		index
	)

Definition at line 2268 of file processor.py.

def laser_camera_segmentation.processor.processor.get_ransac_table_plane_from_labels ( self )

Definition at line 219 of file processor.py.

def laser_camera_segmentation.processor.processor.load_classifier_and_test_on_dataset	(	self,
		features,
		feature_data
	)

Definition at line 1930 of file processor.py.

def laser_camera_segmentation.processor.processor.load_Classifier_labels	(	self,
		features
	)

Definition at line 2280 of file processor.py.

def laser_camera_segmentation.processor.processor.load_Classifiers ( self )

Definition at line 1794 of file processor.py.

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

Definition at line 655 of file processor.py.

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

Definition at line 1506 of file processor.py.

def laser_camera_segmentation.processor.processor.load_raw_data	(	self,
		name
	)

Definition at line 660 of file processor.py.

def laser_camera_segmentation.processor.processor.load_testresults_all ( self )

Definition at line 2038 of file processor.py.

def laser_camera_segmentation.processor.processor.load_testresults_all_crossvalidation_fold	(	self,
		fold
	)

Definition at line 1911 of file processor.py.

def laser_camera_segmentation.processor.processor.load_testresults_crossvalidation ( self )

Definition at line 1923 of file processor.py.

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

Definition at line 291 of file processor.py.

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

Definition at line 344 of file processor.py.

def laser_camera_segmentation.processor.processor.map_poylgon_labels_into_laser	(	self,
		map,
		exclude_edges = `False`
	)

Definition at line 511 of file processor.py.

def laser_camera_segmentation.processor.processor.map_poylgons_into_laser	(	self,
		map
	)

Definition at line 489 of file processor.py.

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

Definition at line 1250 of file processor.py.

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

Definition at line 1182 of file processor.py.

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

Definition at line 1167 of file processor.py.

def laser_camera_segmentation.processor.processor.print_testrestults_crossvalidation_latex	(	self,
		testresults_crossvalidation
	)

Definition at line 2130 of file processor.py.

def laser_camera_segmentation.processor.processor.print_testresults_all_latex	(	self,
		testresults_all
	)

Definition at line 2043 of file processor.py.

def laser_camera_segmentation.processor.processor.process_intensities ( self )

Definition at line 1477 of file processor.py.

def laser_camera_segmentation.processor.processor.process_labels	(	self,
		features
	)

Definition at line 1483 of file processor.py.

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

Definition at line 1469 of file processor.py.

def laser_camera_segmentation.processor.processor.read_artag	(	self,
		img
	)

Definition at line 1425 of file processor.py.

def laser_camera_segmentation.processor.processor.remove_labels_from_low_points ( self )

Definition at line 556 of file processor.py.

def laser_camera_segmentation.processor.processor.rotate_pointcloud_match_groundplane ( self )

Definition at line 1605 of file processor.py.

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

Definition at line 1354 of file processor.py.

def laser_camera_segmentation.processor.processor.save_all_labeled_pointclouds ( self )

Definition at line 2292 of file processor.py.

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

Definition at line 2272 of file processor.py.

def laser_camera_segmentation.processor.processor.save_intensity_image	(	self,
		name
	)

Definition at line 1494 of file processor.py.

def laser_camera_segmentation.processor.processor.save_labels_image	(	self,
		features
	)

Definition at line 1500 of file processor.py.

def laser_camera_segmentation.processor.processor.save_mapped_image	(	self,
		name
	)

Definition at line 1488 of file processor.py.

def laser_camera_segmentation.processor.processor.save_segmentation_image ( self )

Definition at line 702 of file processor.py.

def laser_camera_segmentation.processor.processor.save_testresults_all	(	self,
		testresults_all
	)

Definition at line 2032 of file processor.py.

def laser_camera_segmentation.processor.processor.save_testresults_all_crossvalidation_fold	(	self,
		testresults_all,
		fold
	)

Definition at line 1905 of file processor.py.

def laser_camera_segmentation.processor.processor.save_testresults_crossvalidation	(	self,
		testresults_crossvalidation
	)

Definition at line 1917 of file processor.py.

def laser_camera_segmentation.processor.processor.test_Classifiers ( self )

Definition at line 2254 of file processor.py.

def laser_camera_segmentation.processor.processor.test_classifiers_on_testset ( self )

Definition at line 1946 of file processor.py.

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

Definition at line 1801 of file processor.py.

def laser_camera_segmentation.processor.processor.train_and_save_Classifiers ( self )

Definition at line 1780 of file processor.py.

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

Definition at line 206 of file processor.py.

def laser_camera_segmentation.processor.processor.update_test_postprocessing_on_testset ( self )

Definition at line 1989 of file processor.py.

def laser_camera_segmentation.processor.processor.z_translate_pointcloud_groundplane ( self )

Definition at line 1636 of file processor.py.

Member Data Documentation

laser_camera_segmentation::processor.processor::artag_transformation

Definition at line 152 of file processor.py.

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

Definition at line 136 of file processor.py.

laser_camera_segmentation::processor.processor::classifiers = None [static]

Definition at line 128 of file processor.py.

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

Definition at line 916 of file processor.py.

laser_camera_segmentation::processor.processor::config

Definition at line 152 of file processor.py.

int laser_camera_segmentation::processor.processor::count = 0 [static]

Definition at line 1095 of file processor.py.

dictionary laser_camera_segmentation::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 922 of file processor.py.

tuple laser_camera_segmentation::processor.processor::dict = ut.load_pickle(filename) [static]

Definition at line 1111 of file processor.py.

tuple laser_camera_segmentation::processor.processor::factor = np.divide(np.ones(len(range_hist_surface_plot)),max) [static]

Definition at line 1144 of file processor.py.

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

Definition at line 133 of file processor.py.

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

Definition at line 134 of file processor.py.

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

Definition at line 132 of file processor.py.

laser_camera_segmentation::processor.processor::features = None [static]

Definition at line 130 of file processor.py.

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

Definition at line 147 of file processor.py.

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

Definition at line 1013 of file processor.py.

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

Definition at line 1139 of file processor.py.

tuple laser_camera_segmentation::processor.processor::filename = self.get_features_filename() [static]

Definition at line 1110 of file processor.py.

laser_camera_segmentation::processor.processor::first_loop_run = True [static]

Definition at line 1093 of file processor.py.

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

Definition at line 1116 of file processor.py.

float laser_camera_segmentation::processor.processor::ground_exclude_treshold = 0.3 [static]

Definition at line 143 of file processor.py.

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

Definition at line 915 of file processor.py.

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

Definition at line 1019 of file processor.py.

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

Definition at line 1133 of file processor.py.

laser_camera_segmentation::processor.processor::image_angle

Definition at line 660 of file processor.py.

laser_camera_segmentation::processor.processor::img

Definition at line 660 of file processor.py.

laser_camera_segmentation::processor.processor::img_artag

Definition at line 152 of file processor.py.

laser_camera_segmentation::processor.processor::img_intensities

Definition at line 614 of file processor.py.

laser_camera_segmentation::processor.processor::img_labels

Definition at line 695 of file processor.py.

laser_camera_segmentation::processor.processor::img_mapped

Definition at line 614 of file processor.py.

laser_camera_segmentation::processor.processor::img_mapped_polygons

Definition at line 614 of file processor.py.

laser_camera_segmentation::processor.processor::intensities_bound

Definition at line 206 of file processor.py.

laser_camera_segmentation::processor.processor::kdtree2d

Definition at line 1550 of file processor.py.

laser_camera_segmentation::processor.processor::laserscans

Definition at line 660 of file processor.py.

laser_camera_segmentation::processor.processor::loop_condition = True [static]

Definition at line 1092 of file processor.py.

laser_camera_segmentation::processor.processor::map

Definition at line 206 of file processor.py.

laser_camera_segmentation::processor.processor::map2d

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'

Definition at line 1259 of file processor.py.

laser_camera_segmentation::processor.processor::map_polys

Definition at line 556 of file processor.py.

tuple laser_camera_segmentation::processor.processor::max = np.maximum(np.maximum(np.maximum(range_hist_surface_plot,range_hist_clutter_plot),range_hist_surface_std),range_hist_clutter_std) [static]

Definition at line 1143 of file processor.py.

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

Definition at line 1040 of file processor.py.

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

Definition at line 1048 of file processor.py.

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

Definition at line 1037 of file processor.py.

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

Definition at line 1045 of file processor.py.

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

Definition at line 1038 of file processor.py.

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

Definition at line 1046 of file processor.py.

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

Definition at line 1039 of file processor.py.

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

Definition at line 1047 of file processor.py.

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

Definition at line 1020 of file processor.py.

tuple laser_camera_segmentation::processor.processor::plot2 = plt.bar(idx+width,range_hist_clutter_plot,width,yerr=range_hist_clutter_std,color='r') [static]

Definition at line 1154 of file processor.py.

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

Definition at line 1022 of file processor.py.

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

Definition at line 139 of file processor.py.

laser_camera_segmentation::processor.processor::pts = None [static]

Definition at line 126 of file processor.py.

laser_camera_segmentation::processor.processor::pts3d_bound

Definition at line 206 of file processor.py.

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

Definition at line 1043 of file processor.py.

tuple laser_camera_segmentation::processor.processor::range_hist_clutter_plot = np.multiply(range_hist_clutter_plot,factor) [static]

Definition at line 1149 of file processor.py.

tuple laser_camera_segmentation::processor.processor::range_hist_clutter_std = 0 [static]

Definition at line 1088 of file processor.py.

tuple laser_camera_segmentation::processor.processor::range_hist_clutter_std = np.sqrt(range_hist_clutter_std) [static]

Definition at line 1127 of file processor.py.

tuple laser_camera_segmentation::processor.processor::range_hist_surface_plot = np.multiply(range_hist_surface_plot,factor) [static]

Definition at line 1146 of file processor.py.

tuple laser_camera_segmentation::processor.processor::range_hist_surface_std = 0 [static]

plot normals sphere:###

Definition at line 1087 of file processor.py.

tuple laser_camera_segmentation::processor.processor::range_hist_surface_std = np.sqrt(range_hist_surface_std) [static]

Definition at line 1126 of file processor.py.

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

Definition at line 940 of file processor.py.

tuple laser_camera_segmentation::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 911 of file processor.py.

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

Definition at line 914 of file processor.py.