object_manipulator::geom Namespace Reference

## Functions

def crop_to_bbox
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.

object_manipulator
Author(s): Matei Ciocarlie and Kaijen Hsiao
autogenerated on Mon Oct 6 2014 02:59:51