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

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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.