robokudo.annotators.object_knowledge_visualizer¶

Classes¶

ObjectKnowledgeVisualizer

This annotator shows the reference frame of an object and its components/features.

Module Contents¶

class robokudo.annotators.object_knowledge_visualizer.ObjectKnowledgeVisualizer(name='ObjectKnowledgeVisualizer', descriptor=Descriptor())¶

Bases: robokudo.annotators.core.BaseAnnotator

This annotator shows the reference frame of an object and its components/features.

class Descriptor¶

Bases: robokudo.annotators.core.BaseAnnotator.Descriptor

class Parameters¶

object_knowledge_base_ros_package = 'robokudo'¶

object_knowledge_base_name = 'object_knowledge_iai_kitchen'¶

parameters¶

object_kb¶

fill_parthood_hypothesis(ph: robokudo.types.scene.ParthoodHypothesis, object_knowledge: robokudo.descriptors.object_knowledge.object_knowledge_iai_kitchen.ObjectKnowledge, transform: numpy.typing.NDArray) → bool¶

Insert into a given ParthoodHypothesis the information that can be extracted from the object knowledge

Parameters:

ph – A ParthoodHypothesis or one of its childs.
object_knowledge –
transform – Transform between cam and parent object

Returns:

bool: True if parthood hypothesis could be generated, False otherwise

generate_parthood_hypotheses(object_knowledge: robokudo.descriptors.object_knowledge.object_knowledge_iai_kitchen.ObjectKnowledge, transform: numpy.typing.NDArray)¶

update()¶