robokudo.types.cv

Computer vision types for Robokudo.

This module provides types for computer vision operations including:

• 2D and 3D point representations

• Rectangle and region of interest definitions

• 3D bounding box specifications

The types support integration with: * OpenCV for image processing * Open3D for point cloud handling * Transform system for poses

Classes

Point2D	2D point representation.
Points3D	3D point cloud container.
Rect	2D rectangle representation.
ImageROI	Image region of interest.
BoundingBox3D	3D oriented bounding box.

Module Contents

class robokudo.types.cv.Point2D

Bases: robokudo.types.core.Type

2D point representation.

Represents a point in 2D image coordinates.

x: int = 0

X coordinate

y: int = 0

Y coordinate

class robokudo.types.cv.Points3D

Bases: robokudo.types.core.Type

3D point cloud container.

Wraps an Open3D point cloud for 3D point operations.

points: open3d.geometry.PointCloud = None

The actual Open3D point cloud object

class robokudo.types.cv.Rect

Bases: robokudo.types.core.Type

2D rectangle representation.

Defines a rectangle by its top-left corner position and dimensions.

pos: Point2D

Top-left corner position

width: int = 0

Rectangle width in pixels

height: int = 0

Rectangle height in pixels

class robokudo.types.cv.ImageROI

Bases: robokudo.types.core.Type

Image region of interest.

Defines a region of interest in an image using: * Binary mask for arbitrary shapes * Rectangle for bounding region

mask: numpy.typing.NDArray = None

Binary opencv mask image

roi: Rect

Rectangular region of interest

class robokudo.types.cv.BoundingBox3D

Bases: robokudo.types.core.Type

3D oriented bounding box.

Represents a 3D box with: * Dimensions along each axis * 6-DOF pose defining orientation and position

x_length: float = 0.0

Box length along x-axis

y_length: float = 0.0

Box length along y-axis

z_length: float = 0.0

Box length along z-axis

pose: robokudo.types.tf.Pose

Box pose in 3D space