def define_ROI_polygons(w, h, crop_regions):
'''
# Create dummy edges for placement
# Note this assumes we will be using a SQUARE region of interest -- not true in general.
Usage:
w = image_size.width; h = image_size.height
crop_region = (0.2,0.1,.2,.1) # % to crop left, crop right, crop top, crop bot
surface_ROI, list_of_edges = define_ROI_polygons(w, h, crop_region)
pc.scan_dataset.polygons.append(surface_ROI)
for p in list_of_edges: pc.scan_dataset.polygons.append(p)
'''
(left, right, top, bottom) = crop_regions
width_min = w * left
width_max = w * (1-right)
height_min = h * top
height_max = h * (1-bottom)
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
self.dict["ground_plane_rotation"] = ""
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 __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
self.dict['ground_plane_rotation'] = ''
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
placement_point -= pc.scan_dataset.ground_plane_translation
