robokudo.utils.semantic_map

Functions

get_obb_from_semantic_map_region(...)	Instantiate an Open3D OrientedBoundingBox that represents a Semantic Map region.
get_obb_from_semantic_map_region_in_cam_coordinates(...)
get_obb_from_semantic_map_region_with_transform_matrix(...)

Module Contents

robokudo.utils.semantic_map.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.

Parameters:

region – A semantic map entry that defines the region of interest in 3D

Returns:

The bounding box with the pose and extent defined by region

robokudo.utils.semantic_map.get_obb_from_semantic_map_region_in_cam_coordinates(region, world_frame_name, world_to_cam_transform_matrix)

robokudo.utils.semantic_map.get_obb_from_semantic_map_region_with_transform_matrix(region, transform_matrix)