robokudo.utils.knowledge¶

Functions¶

`get_transform_matrix_from_object_knowledge`(ok)
`get_bb_size_from_object_knowledge`(ok)
`load_object_knowledge_base`(...)
`get_obb_for_object_and_transform`(...)	Get an OBB only for THIS object and not any descendants.
`get_obb_for_child_object_and_transform`(...)
`get_obbs_for_object_and_childs`(→ Dict[str, ...)

Module Contents¶

robokudo.utils.knowledge.get_transform_matrix_from_object_knowledge(ok: robokudo.object_knowledge_base.ObjectKnowledge)¶

robokudo.utils.knowledge.get_bb_size_from_object_knowledge(ok: robokudo.object_knowledge_base.ObjectKnowledge)¶

robokudo.utils.knowledge.load_object_knowledge_base(annotator: robokudo.annotators.core.BaseAnnotator) → robokudo.object_knowledge_base.BaseObjectKnowledgeBase¶

robokudo.utils.knowledge.get_obb_for_object_and_transform(object_knowledge: robokudo.object_knowledge_base.ObjectKnowledge, transform: numpy.typing.NDArray) → open3d.geometry.OrientedBoundingBox¶

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

Parameters:

object_knowledge –
transform – 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.

Returns:

A OrientedBoundingbox

robokudo.utils.knowledge.get_obb_for_child_object_and_transform(object_knowledge: robokudo.object_knowledge_base.ObjectKnowledge, parent_transform: numpy.typing.NDArray) → open3d.geometry.OrientedBoundingBox¶

robokudo.utils.knowledge.get_obbs_for_object_and_childs(object_knowledge: robokudo.object_knowledge_base.ObjectKnowledge, transform: numpy.typing.NDArray) → Dict[str, open3d.geometry.OrientedBoundingBox]¶