tst7.py 文件源码

def getRotMat(verts):
    """

    find the table and do calibration

    :param verts: see depthToXYZ
    :return:

    author: weiwei
    date: 20170711
    """

    cutverts = []
    for vert in verts:
        if vert[0] < 700.0 and vert[0] > -700.0:
            if vert[1] < 200.0 and vert[1] > -600.0:
                if vert[2] < -1000.0 and vert[2] > -1500.0:
                    cutverts.append([vert[0], vert[1], vert[2]])

    # clustering using DBSCAN
    X = np.array(cutverts)
    db = DBSCAN(eps=20, min_samples = 100, n_jobs = -1).fit(X)
    print db.labels_
    core_samples_mask = np.zeros_like(db.labels_, dtype=bool)
    core_samples_mask[db.core_sample_indices_] = True
    labels = db.labels_

    returnvertslist = []
    unique_labels = set(labels)
    for k in unique_labels:
        class_member_mask = (labels == k)
        print class_member_mask, core_samples_mask
        xyzlist = X[class_member_mask & core_samples_mask]
        print xyzlist
        returnvertslist.append(xyzlist.tolist())

    return returnvertslist
    # return verts