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object_manipulator::geom Namespace Reference

Functions

def crop_to_bbox
def crop_to_bbox_mask
def from_hom
def matrix_to_rot_trans
def rot_trans_to_matrix
def to_hom
def transform_points
def transform_vectors

Function Documentation

def object_manipulator::geom::crop_to_bbox (   points,
  xmin,
  xmax,
  ymin,
  ymax,
  zmin,
  zmax 
)

Definition at line 39 of file geom.py.

def object_manipulator::geom::crop_to_bbox_mask (   points,
  xmin,
  xmax,
  ymin,
  ymax,
  zmin,
  zmax 
)

Definition at line 33 of file geom.py.

def object_manipulator::geom::from_hom (   points  ) 

Definition at line 13 of file geom.py.

def object_manipulator::geom::matrix_to_rot_trans (   transform  ) 
Converts a 4x4 homogenous rigid transformation matrix to a translation and a
quaternion rotation.

Definition at line 42 of file geom.py.

def object_manipulator::geom::rot_trans_to_matrix (   rot,
  trans 
)
Converts a rotation and translation to a homogeneous transform.

Args:
    rot (np.array): Quaternion (x, y, z, w).
    trans (np.array): Translation (x, y, z).

Returns:
    H (np.array): 4x4 homogenous transform matrix.

Definition at line 51 of file geom.py.

def object_manipulator::geom::to_hom (   points  ) 

Definition at line 4 of file geom.py.

def object_manipulator::geom::transform_points (   points,
  transform 
)
Transform one or more D dimensional points by the given homogeneous transform.

points - (D,) or (N, D) array

transform - (D + 1, D + 1) array

Definition at line 19 of file geom.py.

def object_manipulator::geom::transform_vectors (   vectors,
  transform 
)

Definition at line 29 of file geom.py.

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object_manipulator
Author(s): Matei Ciocarlie and Kaijen Hsiao
autogenerated on Fri Mar 1 18:35:46 2013