robokudo.utils.region¶

SDT Region helpers for RoboKudo.

This module provides utilities to: - Normalize region naming - Compute region poses and OBBs - Convert regions to annotations/markers

Functions¶

`_box_obb_from_shape`(→ open3d.geometry.OrientedBoundingBox)	Build an OBB for a single SDT Box shape.
`region_obb`(→ open3d.geometry.OrientedBoundingBox)	Return an OBB for the region in world coordinates.
`region_obb_in_cam_coordinates`(...)	Transform region OBB to camera frame using world_to_cam matrix.
`region_pose_annotation`(...)	Create a PoseAnnotation from the region's global pose.
`region_marker_array`(regions[, highlighted, ...])	Optional helper for visualization markers.

Module Contents¶

robokudo.utils.region._box_obb_from_shape(box: semantic_digital_twin.world_description.geometry.Box, world_T_region: semantic_digital_twin.spatial_types.HomogeneousTransformationMatrix) → open3d.geometry.OrientedBoundingBox¶: Build an OBB for a single SDT Box shape.

robokudo.utils.region.region_obb(region: semantic_digital_twin.world_description.world_entity.Region, world: typing_extensions.Optional[semantic_digital_twin.world.World] = None) → open3d.geometry.OrientedBoundingBox¶

Return an OBB for the region in world coordinates.

Strategy: - If a single Box shape exists, build directly from its scale and pose. - Otherwise, fall back to combined mesh or bounding boxes.

robokudo.utils.region.region_obb_in_cam_coordinates(world: semantic_digital_twin.world.World, region: semantic_digital_twin.world_description.world_entity.Region, world_T_cam: typing_extensions.Union[numpy.ndarray, semantic_digital_twin.spatial_types.HomogeneousTransformationMatrix]) → open3d.geometry.OrientedBoundingBox¶: Transform region OBB to camera frame using world_to_cam matrix.

robokudo.utils.region.region_pose_annotation(region: semantic_digital_twin.world_description.world_entity.Region) → robokudo.types.annotation.PoseAnnotation¶: Create a PoseAnnotation from the region’s global pose.

robokudo.utils.region.region_marker_array(regions: typing_extensions.Iterable[semantic_digital_twin.world_description.world_entity.Region], highlighted: typing_extensions.Optional[typing_extensions.Iterable[str]] = None, highlight_color: typing_extensions.Tuple[float, float, float] = (0.0, 1.0, 0.0), default_color: typing_extensions.Tuple[float, float, float] = (0.0, 0.0, 0.7))¶: Optional helper for visualization markers. This can replace BaseSemanticMap.publish_visualization_markers.