def setUp(self):
self.t = pcl.OctreePointCloudSearch(0.1)
pc = pcl.PointCloud()
pc.from_file("tests/table_scene_mug_stereo_textured_noplane.pcd")
self.t.set_input_cloud(pc)
self.t.define_bounding_box()
self.t.add_points_from_input_cloud()
def setUp(self):
self.octree = pcl.OctreePointCloudSearch(0.1)
self.p = pcl.load("tests" + os.path.sep + "tutorials" + os.path.sep +
"table_scene_mug_stereo_textured_noplane.pcd")
self.octree.set_input_cloud(self.p)
self.octree.define_bounding_box()
self.octree.add_points_from_input_cloud()
def __init__(self, wr, hr, view, do_round=True):
self.cloud = pcl.PointCloud()
self.view = view
self.wr = wr
self.hr = hr
self.do_round = do_round
self.octree = pcl.OctreePointCloudSearch(0.1)
self.camera = Camera(wr, hr, view, do_round=do_round)
def add_agent(self, agent_cloud):
tup = tools.round_coords(
tools.find_bounding_box_center(agent_cloud.to_list()))
self.agents[tuple(tup)] = agent_cloud
self.octree = pcl.OctreePointCloudSearch(0.1)
self.timestamp[tuple(tup)] = datetime.datetime.now()
new_ls = self.cloud.to_list()
new_ls.append(tup)
self.cloud = pcl.PointCloud(new_ls)
def __init__(self, wr, hr, view, do_round=True):
self.cloud = pcl.PointCloud()
self.agManager = AgentManager()
self.view = view
self.wr = wr #max width view in radians
self.hr = hr #max height view in radians
self.do_round = do_round #if true, round coordinates to nearest int
self.octree = pcl.OctreePointCloudSearch(0.1)
self.mi = None
self.mj = None
self.hasmatrix = False
self.voxel_size = 5000 #10 meters
