robot_inRange_Height Class Reference

Inheritance diagram for robot_inRange_Height:

Collaboration diagram for robot_inRange_Height:

Public Member Functions
def	__init__ (self, low_th, high_th, HeightEstimator theHeightEstimator=None, tracker=None, trackFilter=None, Params params=Params())
def	post_process (self, det_mask)
def	process_depth (self, depth)
def	update_height_map (self, height_map)
Public Member Functions inherited from robot_inRange
def	__init__ (self, low_th, high_th, tracker=None, trackFilter=None, Params params=Params())
def	det_mask (self)
Public Member Functions inherited from Base_fg
def	__init__ (self, theDetector, theTracker, trackFilter, Params params)
Public Member Functions inherited from Base
def	__init__ (self, theDetector, theTracker, trackFilter, Params params)
def	draw_layer (self, img=None, raw_detect=False, ax=None)
def	get_mask (self)
def	get_state (self)
def	measure (self, I)
def	update_params (self, name, val)

Public Attributes
	height_estimator
	height_map
	post_process_custom
Public Attributes inherited from Base
	layer_mask
	layer_mask_det
	layer_state
	params

Detailed Description

The robot segmenter that uses the inRange segmentation on the height map

The height based segmentation is treated as a routine post-process step.
The customized postprocess passed through the params will be applied 
after the routine post-process

The height map can be obtained in two ways:
1. Pass a heightEstimator to the constructor, and call process_depth function
    to obtrain the height
2. Use the setHeight function to set the heigth directly

NOTE: Now for sanity only allows one of the ways to be activated.
(i.e.) If the heightEstimator is stored, then setHeight will be disabled
If the heightEstimator is None, then process_depth will be disabled

@param[in]  low_th              float.The lower threshold for the inRange method
@param[in]  high_th             float.The higher threshold for teh inRange method
@param[in]  theHeightEstimator  HeightEstimator. Default is None. Used to estimate
                                height from the depth. If None, then requires set the 
                                depth before processing each frame.

Constructor & Destructor Documentation

__init__()

def __init__	(		self,
			low_th,
			high_th,
		HeightEstimator	theHeightEstimator = None,
			tracker = None,
			trackFilter = None,
		Params	params = Params()
	)

Member Function Documentation

post_process()

def post_process	(		self,
			det_mask
	)

Define the whole post-process, which includes:
1. Routine post-process (height based inRange segmentaiton)
2. Customized post-process

process_depth()

def process_depth	(		self,
			depth
	)

Process the depth

update_height_map()

def update_height_map	(		self,
			height_map
	)

Set the cached height map
When the heightEstimator is None, can use this to set the height map externally

@param[in]  height_map              The height_map to store

Member Data Documentation

height_estimator

height_estimator

height_map

height_map

post_process_custom

post_process_custom

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The documentation for this class was generated from the following file:

• /local/source/python/Surveillance/Surveillance/layers/robot_seg.py