robokudo.types.annotation ========================= .. py:module:: robokudo.types.annotation .. autoapi-nested-parse:: Annotation types for robokudo. This module provides various annotation types used for object classification, semantic information, location data, geometric shapes, and pose information. All annotation types inherit from the base Annotation class. Classes ------- .. autoapisummary:: robokudo.types.annotation.Classification robokudo.types.annotation.SemanticColor robokudo.types.annotation.LocationAnnotation robokudo.types.annotation.Plane robokudo.types.annotation.Shape robokudo.types.annotation.Cuboid robokudo.types.annotation.Sphere robokudo.types.annotation.ColorHistogram robokudo.types.annotation.PoseAnnotation robokudo.types.annotation.PositionAnnotation robokudo.types.annotation.StampedPoseAnnotation robokudo.types.annotation.StampedPositionAnnotation robokudo.types.annotation.StampedTransformAnnotation robokudo.types.annotation.Encoding robokudo.types.annotation.BoundingBox3DAnnotation robokudo.types.annotation.CloudAnnotation robokudo.types.annotation.SpatiallyNearestAnnotation robokudo.types.annotation.TextAnnotation Module Contents --------------- .. py:class:: Classification Bases: :py:obj:`robokudo.types.core.Annotation` Classification annotation for objects. This class represents a classification result, including the type of classification (instance, class, or shape), the class name, confidence score, and class ID. .. py:attribute:: classification_type :type: str :value: '' Type of classification (INSTANCE, CLASS, or SHAPE) .. py:attribute:: classname :type: str :value: '' Name of the classified class .. py:attribute:: confidence :type: float :value: 0.0 Confidence score of the classification .. py:attribute:: class_id :type: int :value: 0 Numeric identifier for the class .. py:class:: SemanticColor Bases: :py:obj:`robokudo.types.core.Annotation` Semantic color annotation. This class represents semantic color information, including the color name and its ratio/proportion in the annotated object or region. .. py:attribute:: color :type: str :value: '' Name of the color .. py:attribute:: ratio :type: float :value: 0.0 Proportion/ratio of this color in the object/region .. py:class:: LocationAnnotation Bases: :py:obj:`robokudo.types.core.Annotation` Location annotation for objects. This class represents a named location in the environment. .. py:attribute:: name :type: str :value: '' Name of the location .. py:class:: Plane Bases: :py:obj:`robokudo.types.core.Annotation` Plane annotation for surface detection. This class represents a detected plane in 3D space, including its model parameters and inlier points. .. py:attribute:: model :type: typing_extensions.List[float] :value: [] 4-dimensional plane equation parameters [a, b, c, d] for ax + by + cz + d = 0 .. py:attribute:: inliers :type: typing_extensions.List[int] :value: [] List of pointcloud indices that belong to this plane .. py:class:: Shape Bases: :py:obj:`robokudo.types.core.Annotation` Base class for shape annotations. This class serves as a base for specific shape types like Cuboid and Sphere. .. py:attribute:: inliers :type: typing_extensions.List[int] :value: [] List of pointcloud indices that belong to this shape .. py:attribute:: type :type: str :value: '' Type of the shape (e.g., 'Cuboid', 'Sphere') .. py:class:: Cuboid Bases: :py:obj:`Shape` Cuboid shape annotation. This class represents a cuboid shape defined by three plane equations. .. py:attribute:: model :type: typing_extensions.List :value: [] Three plane equations defining the cuboid, shape (3,4) .. py:class:: Sphere Bases: :py:obj:`Shape` Sphere shape annotation. This class represents a sphere shape defined by its center and radius. .. py:attribute:: radius :type: float :value: 0.0 Radius of the sphere .. py:attribute:: center :type: numpy.typing.NDArray[numpy.float32] Center coordinates of the sphere in (x, y, z) .. py:class:: ColorHistogram Bases: :py:obj:`robokudo.types.core.Annotation` Color histogram annotation. This class usually represents a 2D color histogram, typically containing hue and saturation information. .. py:attribute:: hist :type: typing_extensions.Optional[numpy.typing.NDArray] :value: None 2D histogram array .. py:attribute:: normalized :type: bool :value: False Whether the histogram is normalized .. py:class:: PoseAnnotation Bases: :py:obj:`robokudo.types.tf.Pose`, :py:obj:`robokudo.types.core.Annotation` Pose annotation combining transform and annotation functionality. This class inherits from both Pose and Annotation to provide pose information as an annotation type. .. py:class:: PositionAnnotation Bases: :py:obj:`robokudo.types.tf.Position`, :py:obj:`robokudo.types.core.Annotation` Position annotation combining position and annotation functionality. This class inherits from both Position and Annotation to provide position information as an annotation type. .. py:class:: StampedPoseAnnotation Bases: :py:obj:`robokudo.types.tf.StampedPose`, :py:obj:`robokudo.types.core.Annotation` Timestamped pose annotation. This class combines timestamped pose information with annotation functionality. .. py:class:: StampedPositionAnnotation Bases: :py:obj:`robokudo.types.tf.StampedPosition`, :py:obj:`robokudo.types.core.Annotation` Timestamped position annotation. This class combines timestamped position information with annotation functionality. .. py:class:: StampedTransformAnnotation Bases: :py:obj:`robokudo.types.tf.StampedTransform`, :py:obj:`robokudo.types.core.Annotation` Timestamped transform annotation. This class combines timestamped transform information with annotation functionality. .. py:class:: Encoding Bases: :py:obj:`robokudo.types.core.Annotation` An abstract Encoding Type. This class represents various types of encodings such as feature vectors, latent space representations, or other variables. .. py:attribute:: encoding :type: typing_extensions.Any :value: None The encoded representation .. py:class:: BoundingBox3DAnnotation Bases: :py:obj:`robokudo.types.cv.BoundingBox3D`, :py:obj:`robokudo.types.core.Annotation` 3D bounding box annotation. This class combines 3D bounding box functionality with annotation capabilities. .. py:class:: CloudAnnotation Bases: :py:obj:`robokudo.types.cv.Points3D`, :py:obj:`robokudo.types.core.Annotation` Point cloud annotation. This class combines 3D point cloud functionality with annotation capabilities. .. py:class:: SpatiallyNearestAnnotation Bases: :py:obj:`robokudo.types.core.Annotation` Annotation to describe the spatially nearest object to the camera. Supposed to be unique for an amount of objects or humans. .. py:class:: TextAnnotation Bases: :py:obj:`robokudo.types.core.Annotation` Text annotation. .. py:attribute:: text :type: str :value: '' Text content of the annotation