Public Member Functions
def	__del__
def	__init__
def	Compute3DPositionImage
def	Get3DPointsFromImageRays
def	GetContactPointsFromImageRays
Static Public Member Functions
def	CameraPoseDistSqr
def	CameraQuaternionDistSqr
def	Compute3DPositionFromDepth
def	ComputeNormalizationTransformation
def	ComputeRigidTransform
def	FillDepthMap
def	ImageRegionProps
def	imshow
def	ProjectPoints
def	streldisk
Public Attributes
	ab
	maxradius
	orenv
	orobj
	vertices

Detailed Description

Offers several functions for querying projection results of objects whose geometry is loaded into openrave

Definition at line 32 of file ObjectProjection.py.

Constructor & Destructor Documentation

def ObjectProjection.ObjectProjection.__init__	(	self,
		kinbodydata = `None`,
		kinbodyfilename = `None`
	)

Definition at line 34 of file ObjectProjection.py.

def ObjectProjection.ObjectProjection.__del__ ( self )

Definition at line 50 of file ObjectProjection.py.

Member Function Documentation

def ObjectProjection.ObjectProjection.CameraPoseDistSqr	(	pose,
		posearray,
		rotweightsqr = `0.3`,
		angleweight = `0.0`
	)	`[static]`

distance between two poses ignoring left rotation around zaxis of posearray. Squared quaternion distance is scaled by rotweightsqr

Definition at line 136 of file ObjectProjection.py.

def ObjectProjection.ObjectProjection.CameraQuaternionDistSqr	(	q,
		qarray,
		angleweight = `0.0`
	)	`[static]`

distance between two quaternions ignoring left rotation around z axis of qarray

Definition at line 126 of file ObjectProjection.py.

def ObjectProjection.ObjectProjection.Compute3DPositionFromDepth	(	Idepth,
		Tcamera,
		KK
	)	`[static]`

Definition at line 151 of file ObjectProjection.py.

def ObjectProjection.ObjectProjection.Compute3DPositionImage	(	self,
		Tcamera,
		KK,
		imagewidth,
		imageheight,
		ROI = `None`,
		buffer = `10`,
		computedepth = `True`
	)

Given the camera position, its intrisnic matrix, and its region of interest [upperleft_xy lowerright_xy],
compute the position and depth maps. The position map gives the local 3d surface position of every image point.
if computedepth is True, second returned parameter will be depthmap, otherwise it is the mask.

Definition at line 53 of file ObjectProjection.py.

def ObjectProjection.ObjectProjection.ComputeNormalizationTransformation ( points ) [static]

Computes a k+1xk+1 affine transformation to normalize a Nxk points array

Definition at line 140 of file ObjectProjection.py.

def ObjectProjection.ObjectProjection.ComputeRigidTransform	(	points1,
		points2,
		doscale = `False`
	)	`[static]`

Finds an affine k+1xk+1 transformation T such that T*transpose(points1)=transpose(points2). points1, points2 is a Nxk array

Definition at line 109 of file ObjectProjection.py.

def ObjectProjection.ObjectProjection.FillDepthMap	(	Idepth,
		dilateradius = `8`
	)	`[static]`

Definition at line 162 of file ObjectProjection.py.

def ObjectProjection.ObjectProjection.Get3DPointsFromImageRays	(	self,
		args,
		kwargs
	)

Definition at line 87 of file ObjectProjection.py.

def ObjectProjection.ObjectProjection.GetContactPointsFromImageRays	(	self,
		camerapoints,
		Tcamera,
		rayneardist = `0`
	)

Retrives the positions on the object of points in camera space.
camerapoints is Nx3 array
Returns hitindices (N points) ,hitpositions (Nx3 vector)

Definition at line 91 of file ObjectProjection.py.

def ObjectProjection.ObjectProjection.ImageRegionProps ( L ) [static]

calculates region properties of a labeled image similar to MATLAB's regionprops
Output:
  props - structure where each element contains
  Area - number of pixels in region
  BoundingBox - [startrow startcol numrows numcols]

Definition at line 201 of file ObjectProjection.py.

def ObjectProjection.ObjectProjection.imshow ( I ) [static]

Definition at line 238 of file ObjectProjection.py.