def get_test_data():
cfg = configuration.configuration("../data/ROS_test_client/", "dummyScanner")
pc = processor.processor(cfg)
pc.scan_dataset = scan_dataset()
pc.scan_dataset.image_artag_filename = ""
pc.scan_dataset.table_plane_translation = np.matrix([0, 0, 0]).T
# approximate height of hokuyo above the ground, assume it to be fixed for now.
pc.scan_dataset.ground_plane_translation = np.matrix([0, 0, 1.32]).T
pc.scan_dataset.ground_plane_rotation = ""
# pc.scan_dataset.is_test_set = True
pc.scan_dataset.is_labeled = True
pc.scan_dataset.id = "ROStest"
pc.load_raw_data(pc.scan_dataset.id)
image_size = cv.cvGetSize(pc.img)
# don't do any mapping to not change the pts3d!
# create point cloud from raw range points
(pc.pts3d, pc.scan_indices, pc.intensities) = pc.create_pointcloud(pc.laserscans, True, True)
# region of interest in image pixels
polygon = label_object()
polygon.set_label("surface")
width_min = image_size.width * 0.4
width_max = image_size.width * 0.95
height_min = image_size.height * 0.3
height_max = image_size.height * 0.95
polygon.add_point((width_min, height_min))
polygon.add_point((width_min, height_max))
polygon.add_point((width_max, height_max))
polygon.add_point((width_max, height_min))
return pc.pts3d, pc.intensities, None, pc.img, pc.image_angle, polygon
def get_test_data():
cfg = configuration.configuration('../data/ROS_test_client/',
'dummyScanner')
pc = processor.processor(cfg)
pc.scan_dataset = scan_dataset()
pc.scan_dataset.image_artag_filename = ''
pc.scan_dataset.table_plane_translation = np.matrix([0, 0, 0]).T
#approximate height of hokuyo above the ground, assume it to be fixed for now.
pc.scan_dataset.ground_plane_translation = np.matrix([0, 0, 1.32]).T
pc.scan_dataset.ground_plane_rotation = ''
#pc.scan_dataset.is_test_set = True
pc.scan_dataset.is_labeled = True
pc.scan_dataset.id = 'ROStest'
pc.load_raw_data(pc.scan_dataset.id)
image_size = cv.cvGetSize(pc.img)
#don't do any mapping to not change the pts3d!
#create point cloud from raw range points
(pc.pts3d, pc.scan_indices,
pc.intensities) = pc.create_pointcloud(pc.laserscans, True, True)
#region of interest in image pixels
polygon = label_object()
polygon.set_label('surface')
width_min = image_size.width * 0.4
width_max = image_size.width * 0.95
height_min = image_size.height * 0.3
height_max = image_size.height * 0.95
polygon.add_point((width_min, height_min))
polygon.add_point((width_min, height_max))
polygon.add_point((width_max, height_max))
polygon.add_point((width_max, height_min))
return pc.pts3d, pc.intensities, None, pc.img, pc.image_angle, polygon
def start_new_polygon(self):
if False == self.polygons[self.current_polygon_index].is_empty():
# if self.current_polygon_index == len(self.polygons) - 1:
self.polygons.append(
label_object.label_object()) #last one, append new
self.current_polygon_index = len(self.polygons) - 1
print "new poly index: ", self.current_polygon_index
def define_ROI_polygons(width_min, width_max, height_min, height_max):
p = label_object()
p.set_label('surface')
p.add_point((width_min, height_min))
p.add_point((width_min, height_max))
p.add_point((width_max, height_max))
p.add_point((width_max, height_min))
table_surface = p #A polygon shape (rectangle) defining most generous guess of table surface.
print 'surface', p.get_points()
p = label_object()
p.set_label('edge_down')
p.add_point((width_min, height_min))
p.add_point((width_min, height_max))
p.add_point((width_max, height_max))
p.add_point((width_max, height_min))
p.add_point((width_min, height_min))
list_of_edges = (p, )
# [Above] Any number of polygons which define surface border. More can be added.
print 'edge', p.get_points()
return table_surface, list_of_edges
def define_ROI_polygons(width_min, width_max, height_min, height_max):
p = label_object()
p.set_label('surface')
p.add_point((width_min,height_min))
p.add_point((width_min,height_max))
p.add_point((width_max,height_max))
p.add_point((width_max,height_min))
table_surface = p #A polygon shape (rectangle) defining most generous guess of table surface.
print 'surface',p.get_points()
p = label_object()
p.set_label('edge_down')
p.add_point((width_min,height_min))
p.add_point((width_min,height_max))
p.add_point((width_max,height_max))
p.add_point((width_max,height_min))
p.add_point((width_min,height_min))
list_of_edges = (p,)
# [Above] Any number of polygons which define surface border. More can be added.
print 'edge',p.get_points()
return table_surface, list_of_edges
def __init__(self):
'''
Constructor
'''
self.dict = {}
self.dict['title'] = ''
self.dict['id'] = ''
self.dict['polygons'] = [label_object.label_object()]
self.dict['scan_filename'] = ''
self.dict['image_filename'] = ''
self.dict['image_artag_filename'] = ''
self.dict['surface_id'] = ''
self.dict['surface_height'] = ''
self.dict['camera_height'] = ''
self.dict['camera_angle'] = ''
self.dict['surface_type'] = ''
self.dict['ground_plane_normal'] = ''
self.dict['ground_plane_three_points'] = ''
self.dict['is_training_set'] = False
self.dict['is_test_set'] = False
self.dict['is_labeled'] = False
def start_new_polygon(self):
if False == self.polygons[self.current_polygon_index].is_empty():
# if self.current_polygon_index == len(self.polygons) - 1:
self.polygons.append(label_object.label_object()) #last one, append new
self.current_polygon_index = len(self.polygons) - 1
print "new poly index: ", self.current_polygon_index
* pc.image_labels
* pc.img_mapped
* pc.img_mapped_polygons
* testresults #Not sure what this is?
* data_idx #indexes taken from pts3d_bound ONLY where label is nonzero
* data #3d values of pts3d_bound where label is nonzero...
# However as a list so 3x longer.
* scan_indices - an artifact from the hokuyo. Original acquired line order?
'''
if False: ####### Placement routine.
object_height = 0.1
#SCALE = 1
resolution = [.01 * SCALE, .01 * SCALE] #sets resolution of occupancy grid
print 'NOTE: Resolution is ', 100 * resolution[0], 'cm' ###
polygon = label_object()
polygon.add_point([0, 0])
polygon.add_point([0, 5 * SCALE])
polygon.add_point([10 * SCALE, 5 * SCALE])
polygon.add_point([10 * SCALE, 0])
###object_height = 0.1
print 'creating placement object'
pl = Placement(
pc, resolution) ###REPLACE WITH MY OWN CLASS DEFINITION WITH FUNCTIONs
if displayOn:
placement_point = pl.test_placement(polygon, object_height)
else:
placement_point = pl.find_placement(
polygon, object_height) #Add param True to get debug popups
* pc.image_labels
* pc.img_mapped
* pc.img_mapped_polygons
* testresults #Not sure what this is?
* data_idx #indexes taken from pts3d_bound ONLY where label is nonzero
* data #3d values of pts3d_bound where label is nonzero...
# However as a list so 3x longer.
* scan_indices - an artifact from the hokuyo. Original acquired line order?
'''
if False: ####### Placement routine.
object_height = 0.1
#SCALE = 1
resolution = [.01*SCALE, .01*SCALE] #sets resolution of occupancy grid
print 'NOTE: Resolution is ',100*resolution[0], 'cm' ###
polygon = label_object()
polygon.add_point([0,0])
polygon.add_point([0,5*SCALE])
polygon.add_point([10*SCALE,5*SCALE])
polygon.add_point([10*SCALE,0])
###object_height = 0.1
print 'creating placement object'
pl = Placement(pc, resolution) ###REPLACE WITH MY OWN CLASS DEFINITION WITH FUNCTIONs
if displayOn:
placement_point = pl.test_placement(polygon, object_height)
else:
placement_point = pl.find_placement(polygon, object_height)#Add param True to get debug popups
placement_point -= pc.scan_dataset.ground_plane_translation
def convert_ROS_polygon_to_polygon(ROS_polygon):
polygon = label_object()
for point in ROS_polygon.points:
polygon.add_point((point.x,point.y))
return polygon
