robokudo.utils.knowledge
========================

.. py:module:: robokudo.utils.knowledge


Functions
---------

.. autoapisummary::

   robokudo.utils.knowledge.get_transform_matrix_from_object_knowledge
   robokudo.utils.knowledge.get_bb_size_from_object_knowledge
   robokudo.utils.knowledge.load_object_knowledge_base
   robokudo.utils.knowledge.get_obb_for_object_and_transform
   robokudo.utils.knowledge.get_obb_for_child_object_and_transform
   robokudo.utils.knowledge.get_obbs_for_object_and_childs


Module Contents
---------------

.. py:function:: get_transform_matrix_from_object_knowledge(ok: robokudo.object_knowledge_base.ObjectKnowledge)

.. py:function:: get_bb_size_from_object_knowledge(ok: robokudo.object_knowledge_base.ObjectKnowledge)

.. py:function:: load_object_knowledge_base(annotator: robokudo.annotators.core.BaseAnnotator) -> robokudo.object_knowledge_base.BaseObjectKnowledgeBase

.. py:function:: get_obb_for_object_and_transform(object_knowledge: robokudo.object_knowledge_base.ObjectKnowledge, transform: numpy.typing.NDArray) -> open3d.geometry.OrientedBoundingBox

   Get an OBB only for THIS object and not any descendants.

   :param object_knowledge:
   :param transform: Transformation matrix describing the position of the object.
                     This is usually used for objects that have been perceived and do not have fixed
                     Position/Orientation information.
   :return: A OrientedBoundingbox


.. py:function:: get_obb_for_child_object_and_transform(object_knowledge: robokudo.object_knowledge_base.ObjectKnowledge, parent_transform: numpy.typing.NDArray) -> open3d.geometry.OrientedBoundingBox

.. py:function:: get_obbs_for_object_and_childs(object_knowledge: robokudo.object_knowledge_base.ObjectKnowledge, transform: numpy.typing.NDArray) -> Dict[str, open3d.geometry.OrientedBoundingBox]