robokudo.utils.shape_estimator_adapters¶

Shape-specific adapters for fitted primitive results.

Attributes¶

`ShapeFitParameters`
`SPHERE_FIT_ADAPTER`
`CYLINDER_FIT_ADAPTER`
`CUBOID_FIT_ADAPTER`
`SHAPE_FIT_ADAPTERS`

Classes¶

`SphereFitParameters`	Parameters for fitting one sphere candidate.
`CylinderFitParameters`	Parameters for fitting one cylinder candidate.
`CuboidFitParameters`	Parameters for fitting one cuboid candidate.
`ShapeFitSummary`	Shared compact metrics for one fitted shape candidate.
`SphereFitSummary`	Compact metrics for one fitted sphere candidate.
`CylinderFitSummary`	Compact metrics for one fitted cylinder candidate.
`CuboidFitSummary`	Compact metrics for one fitted cuboid candidate.
`ShapeFitAdapter`	Shape-specific behavior for one fitted primitive type.
`SphereFitAdapter`	Adapter for sphere fit results.
`CylinderFitAdapter`	Adapter for cylinder fit results.
`CuboidFitAdapter`	Adapter for cuboid fit results.

Functions¶

`adapter_for_fit`(→ ShapeFitAdapter)	Return the adapter for a fitted primitive.
`rotation_matrix_from_axis`(→ numpy.ndarray)	Create an orthonormal rotation matrix with z aligned to the axis.
`_format_summary_value`(→ str)	Format one summary value for compact log output.
`_coordinate_frame`(→ open3d.geometry.TriangleMesh)	Create a transformed Open3D coordinate frame.
`_as_sphere_fit`(→ robokudo.utils.shape_fitting.SphereFit)
`_as_cylinder_fit`(...)
`_as_cuboid_fit`(→ robokudo.utils.shape_fitting.CuboidFit)
`_as_sphere_fit_parameters`(→ SphereFitParameters)
`_as_cylinder_fit_parameters`(→ CylinderFitParameters)
`_as_cuboid_fit_parameters`(→ CuboidFitParameters)

Module Contents¶

class robokudo.utils.shape_estimator_adapters.SphereFitParameters¶

Parameters for fitting one sphere candidate.

distance_threshold: float¶

robust_loss: str¶

max_radius: float¶

max_radius_to_bbox_diagonal_ratio: float¶

max_radius_to_observed_extent_ratio: float¶

max_center_distance_to_bbox_diagonal_ratio: float¶

min_inlier_ratio: float¶

class robokudo.utils.shape_estimator_adapters.CylinderFitParameters¶

Parameters for fitting one cylinder candidate.

distance_threshold: float¶

robust_loss: str¶

max_radius: float¶

max_height: float¶

max_radius_to_bbox_diagonal_ratio: float¶

max_radius_to_cross_section_extent_ratio: float¶

max_axis_center_distance_to_bbox_diagonal_ratio: float¶

min_inlier_ratio: float¶

max_initializations: int¶

consensus_trials: int¶

inlier_polishing_iterations: int¶

class robokudo.utils.shape_estimator_adapters.CuboidFitParameters¶

Parameters for fitting one cuboid candidate.

distance_threshold: float¶

max_extent: float¶

min_inlier_ratio: float¶

robokudo.utils.shape_estimator_adapters.ShapeFitParameters¶

class robokudo.utils.shape_estimator_adapters.ShapeFitSummary¶

Bases: abc.ABC

Shared compact metrics for one fitted shape candidate.

score: float¶: Fit quality score.

inlier_ratio: float¶: Ratio of input points explained by the fitted shape.

root_mean_square_error: float¶: Root mean square distance error of inlier points.

property shape_name: str¶

Abstractmethod:

Name of the fitted shape.

abstract shape_specific_fields() → tuple[tuple[str, object, str | None], Ellipsis]¶: Return fields that only apply to this fitted shape.

__str__() → str¶: Return the compact log representation.

class robokudo.utils.shape_estimator_adapters.SphereFitSummary¶

Bases: ShapeFitSummary

Compact metrics for one fitted sphere candidate.

radius: float¶: Fitted sphere radius.

property shape_name: str¶: Name of the fitted shape.

shape_specific_fields() → tuple[tuple[str, object, str | None], Ellipsis]¶: Return fields that only apply to this fitted shape.

class robokudo.utils.shape_estimator_adapters.CylinderFitSummary¶

Bases: ShapeFitSummary

Compact metrics for one fitted cylinder candidate.

radius: float¶: Fitted cylinder radius.

height: float¶: Fitted cylinder height.

property shape_name: str¶: Name of the fitted shape.

shape_specific_fields() → tuple[tuple[str, object, str | None], Ellipsis]¶: Return fields that only apply to this fitted shape.

class robokudo.utils.shape_estimator_adapters.CuboidFitSummary¶

Bases: ShapeFitSummary

Compact metrics for one fitted cuboid candidate.

extents: list[float]¶: Fitted cuboid side lengths.

property shape_name: str¶: Name of the fitted shape.

shape_specific_fields() → tuple[tuple[str, object, str | None], Ellipsis]¶: Return fields that only apply to this fitted shape.

class robokudo.utils.shape_estimator_adapters.ShapeFitAdapter¶

Bases: abc.ABC

Shape-specific behavior for one fitted primitive type.

shape_name: str¶

abstract matches(fit_result: robokudo.utils.shape_fitting.FittedShape) → bool¶: Return whether this adapter handles the fit result.

abstract fit(points: numpy.ndarray, parameters: ShapeFitParameters) → typing_extensions.Optional[robokudo.utils.shape_fitting.FittedShape]¶: Fit this primitive using shape-specific fit parameters.

abstract to_annotation(fit_result: robokudo.utils.shape_fitting.FittedShape) → robokudo.types.annotation.Shape¶: Convert a fit result into a RoboKudo shape annotation.

abstract to_o3d_geometry(fit_result: robokudo.utils.shape_fitting.FittedShape) → open3d.geometry.Geometry¶: Convert a fitted primitive into an Open3D geometry.

abstract to_coordinate_frame(fit_result: robokudo.utils.shape_fitting.FittedShape) → open3d.geometry.TriangleMesh¶: Create a coordinate frame located at the fitted primitive center.

abstract summary(fit_result: robokudo.utils.shape_fitting.FittedShape) → ShapeFitSummary¶: Return compact metrics for one fitted candidate.

class robokudo.utils.shape_estimator_adapters.SphereFitAdapter¶

Bases: ShapeFitAdapter

Adapter for sphere fit results.

shape_name = 'Sphere'¶

matches(fit_result: robokudo.utils.shape_fitting.FittedShape) → bool¶: Return whether this adapter handles the fit result.

fit(points: numpy.ndarray, parameters: ShapeFitParameters) → typing_extensions.Optional[robokudo.utils.shape_fitting.SphereFit]¶: Fit one sphere candidate.

to_annotation(fit_result: robokudo.utils.shape_fitting.FittedShape) → robokudo.types.annotation.Sphere¶: Create a sphere annotation from a sphere fit.

to_o3d_geometry(fit_result: robokudo.utils.shape_fitting.FittedShape) → open3d.geometry.Geometry¶: Convert a fitted sphere into an Open3D geometry.

to_coordinate_frame(fit_result: robokudo.utils.shape_fitting.FittedShape) → open3d.geometry.TriangleMesh¶: Create a coordinate frame at the fitted sphere center.

summary(fit_result: robokudo.utils.shape_fitting.FittedShape) → SphereFitSummary¶: Return compact metrics for one sphere fit.

class robokudo.utils.shape_estimator_adapters.CylinderFitAdapter¶

Bases: ShapeFitAdapter

Adapter for cylinder fit results.

shape_name = 'Cylinder'¶

matches(fit_result: robokudo.utils.shape_fitting.FittedShape) → bool¶: Return whether this adapter handles the fit result.

fit(points: numpy.ndarray, parameters: ShapeFitParameters) → typing_extensions.Optional[robokudo.utils.shape_fitting.CylinderFit]¶: Fit one cylinder candidate.

to_annotation(fit_result: robokudo.utils.shape_fitting.FittedShape) → robokudo.types.annotation.Cylinder¶: Create a cylinder annotation from a cylinder fit.

to_o3d_geometry(fit_result: robokudo.utils.shape_fitting.FittedShape) → open3d.geometry.Geometry¶: Convert a fitted cylinder into an Open3D geometry.

to_coordinate_frame(fit_result: robokudo.utils.shape_fitting.FittedShape) → open3d.geometry.TriangleMesh¶: Create a coordinate frame at the fitted cylinder center.

summary(fit_result: robokudo.utils.shape_fitting.FittedShape) → CylinderFitSummary¶: Return compact metrics for one cylinder fit.

class robokudo.utils.shape_estimator_adapters.CuboidFitAdapter¶

Bases: ShapeFitAdapter

Adapter for cuboid fit results.

shape_name = 'Cuboid'¶

matches(fit_result: robokudo.utils.shape_fitting.FittedShape) → bool¶: Return whether this adapter handles the fit result.

fit(points: numpy.ndarray, parameters: ShapeFitParameters) → typing_extensions.Optional[robokudo.utils.shape_fitting.CuboidFit]¶: Fit one cuboid candidate.

to_annotation(fit_result: robokudo.utils.shape_fitting.FittedShape) → robokudo.types.annotation.Cuboid¶: Create a cuboid annotation from a cuboid fit.

to_o3d_geometry(fit_result: robokudo.utils.shape_fitting.FittedShape) → open3d.geometry.Geometry¶: Convert a fitted cuboid into an Open3D geometry.

to_coordinate_frame(fit_result: robokudo.utils.shape_fitting.FittedShape) → open3d.geometry.TriangleMesh¶: Create a coordinate frame at the fitted cuboid center.

summary(fit_result: robokudo.utils.shape_fitting.FittedShape) → CuboidFitSummary¶: Return compact metrics for one cuboid fit.

robokudo.utils.shape_estimator_adapters.SPHERE_FIT_ADAPTER¶

robokudo.utils.shape_estimator_adapters.CYLINDER_FIT_ADAPTER¶

robokudo.utils.shape_estimator_adapters.CUBOID_FIT_ADAPTER¶

robokudo.utils.shape_estimator_adapters.SHAPE_FIT_ADAPTERS¶

robokudo.utils.shape_estimator_adapters.adapter_for_fit(fit_result: robokudo.utils.shape_fitting.FittedShape) → ShapeFitAdapter¶: Return the adapter for a fitted primitive.

robokudo.utils.shape_estimator_adapters.rotation_matrix_from_axis(axis_direction: numpy.ndarray) → numpy.ndarray¶: Create an orthonormal rotation matrix with z aligned to the axis.

robokudo.utils.shape_estimator_adapters._format_summary_value(value: object, format_spec: str | None) → str¶: Format one summary value for compact log output.

robokudo.utils.shape_estimator_adapters._coordinate_frame(center: numpy.ndarray, rotation_matrix: numpy.ndarray, frame_size: float) → open3d.geometry.TriangleMesh¶: Create a transformed Open3D coordinate frame.

robokudo.utils.shape_estimator_adapters._as_sphere_fit(fit_result: robokudo.utils.shape_fitting.FittedShape) → robokudo.utils.shape_fitting.SphereFit¶

robokudo.utils.shape_estimator_adapters._as_cylinder_fit(fit_result: robokudo.utils.shape_fitting.FittedShape) → robokudo.utils.shape_fitting.CylinderFit¶

robokudo.utils.shape_estimator_adapters._as_cuboid_fit(fit_result: robokudo.utils.shape_fitting.FittedShape) → robokudo.utils.shape_fitting.CuboidFit¶

robokudo.utils.shape_estimator_adapters._as_sphere_fit_parameters(parameters: ShapeFitParameters) → SphereFitParameters¶

robokudo.utils.shape_estimator_adapters._as_cylinder_fit_parameters(parameters: ShapeFitParameters) → CylinderFitParameters¶

robokudo.utils.shape_estimator_adapters._as_cuboid_fit_parameters(parameters: ShapeFitParameters) → CuboidFitParameters¶