robokudo.utils.semantic_map
===========================

.. py:module:: robokudo.utils.semantic_map

.. autoapi-nested-parse::

   Semantic map utilities for Robokudo.

   This module provides functions for working with semantic map regions and their
   transformations to different coordinate frames. It supports:

   * Converting semantic map regions to oriented bounding boxes
   * Transforming regions between world and camera coordinates
   * Applying arbitrary transforms to regions

   The module integrates with:
   * Open3D for geometric operations
   * NumPy for numerical computations
   * Semantic map system for region definitions



Functions
---------

.. autoapisummary::

   robokudo.utils.semantic_map.get_obb_from_semantic_map_region
   robokudo.utils.semantic_map.get_obb_from_semantic_map_region_in_cam_coordinates
   robokudo.utils.semantic_map.get_obb_from_semantic_map_region_with_transform_matrix


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

.. py:function:: get_obb_from_semantic_map_region(region: robokudo.semantic_map.SemanticMapEntry) -> open3d.geometry.OrientedBoundingBox

   Create oriented bounding box from semantic map region.

   Instantiate an Open3D OrientedBoundingBox that represents a Semantic Map region.
   It can be used to crop pointclouds. It doesn't carry any frame information, so
   make sure to translate/rotate it to the desired coordinate frame if necessary.

   .. note::
      The returned box does not carry frame information. Transform it to the
      desired coordinate frame if needed.

   :param region: A semantic map entry that defines the region of interest in 3D
   :return: The bounding box with the pose and extent defined by region


.. py:function:: get_obb_from_semantic_map_region_in_cam_coordinates(region: robokudo.semantic_map.SemanticMapEntry, world_frame_name: str, world_to_cam_transform_matrix: numpy.typing.NDArray) -> open3d.geometry.OrientedBoundingBox

   Transform semantic map region to camera coordinates.

   Creates oriented bounding box and transforms it to camera frame if needed.

   :param region: Semantic map region definition
   :param world_frame_name: Name of world coordinate frame
   :param world_to_cam_transform_matrix: 4x4 world-to-camera transform
   :return: Oriented bounding box in camera coordinates

   .. note::
      If region is not in world frame, assumes region frame matches camera frame.
      TODO: Add proper TF-based transform for other frames.


.. py:function:: get_obb_from_semantic_map_region_with_transform_matrix(region: robokudo.semantic_map.SemanticMapEntry, transform_matrix: numpy.typing.NDArray) -> open3d.geometry.OrientedBoundingBox

   Transform semantic map region by arbitrary transform.

   Creates oriented bounding box and applies provided transform.

   :param region: Semantic map region definition
   :param transform_matrix: 4x4 transform matrix to apply
   :return: Transformed oriented bounding box