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

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


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

   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.

   :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, world_frame_name, world_to_cam_transform_matrix)

.. py:function:: get_obb_from_semantic_map_region_with_transform_matrix(region, transform_matrix)