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

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

.. autoapi-nested-parse::

   Object knowledge utilities for Robokudo.

   This module provides utility functions for working with object knowledge bases
   and transforming object representations. It supports:

   * Transform matrix generation from object knowledge
   * Bounding box calculations
   * Object knowledge base loading
   * Oriented bounding box generation for objects and their parts

   The module integrates with:
   * Open3D for geometric operations
   * NumPy for numerical computations
   * Object knowledge base system



Functions
---------

.. autoapisummary::

   robokudo.utils.knowledge.get_quaternion_from_rotation_information
   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_quaternion_from_rotation_information(ok: robokudo.object_knowledge_base.ObjectKnowledge) -> typing_extensions.Tuple[float, float, float, float]

   Return a quaternion based on the rotation in ObjectKnowledge, and its type of rotation.
   If the pose type is EULER, then it will be converted to Quaternion beforehand.

   :param ok: Object knowledge containing pose information
   :return: [x, y, z, w] rotation quaternion


.. py:function:: get_transform_matrix_from_object_knowledge(ok: robokudo.object_knowledge_base.ObjectKnowledge) -> numpy.typing.NDArray

   Extract transform matrix from object knowledge.

   Creates a 4x4 transformation matrix from the object's position and orientation.

   :param ok: Object knowledge containing pose information
   :return: 4x4 transformation matrix


.. py:function:: get_bb_size_from_object_knowledge(ok: robokudo.object_knowledge_base.ObjectKnowledge) -> numpy.typing.NDArray

   Extract bounding box dimensions from object knowledge.

   :param ok: Object knowledge containing size information
   :return: Array of [x_size, y_size, z_size]


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

   Load object knowledge base from annotator parameters.

   :param annotator: Annotator containing knowledge base parameters
   :return: Loaded object knowledge base


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

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

   :param object_knowledge:
   :param transform_matrix: 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

   Create oriented bounding box for child object.

   Creates an oriented bounding box for a child object by combining its local
   transform with the parent's transform.

   :param object_knowledge: Knowledge about the child object
   :param parent_transform: 4x4 transformation matrix of parent object
   :return: Oriented bounding box for child object


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

   Create oriented bounding boxes for object and all children.

   Creates oriented bounding boxes for:
   * Main object
   * Component parts
   * Feature parts

   :param object_knowledge: Knowledge about main object and its parts
   :param transform_matrix: 4x4 transformation matrix for main object
   :return: Dictionary mapping object names to bounding boxes