point_clouds

Point-cloud processing and visualization utilities.

robotblockset.cameras.point_clouds.transform_points(homogeneous_transform_matrix: ndarray, points: ndarray) → ndarray[source]

Applies a transform to a (set of) point(s).

Parameters:

homogeneous_transform_matrix (HomogeneousMatrixType) – _description_
points (PointsType) – _description_

Returns:

PointsType

Return type:

(3,) vector or (N,3) matrix.

robotblockset.cameras.point_clouds.filter_point_cloud(point_cloud: PointCloud, mask: Any) → PointCloud[source]

Filter a point cloud by a mask.

Parameters:

point_cloud (PointCloud) – Point cloud to filter.
mask (Any) – Mask used to index the point cloud arrays.

Returns:

Filtered point cloud.

Return type:

PointCloud

robotblockset.cameras.point_clouds.generate_point_cloud_crop_mask(point_cloud: PointCloud, bounding_box: Tuple[Tuple[float, float, float], Tuple[float, float, float]]) → ndarray[source]

Build a point-cloud crop mask.

Parameters:

point_cloud (PointCloud) – Point cloud to crop.
bounding_box (BoundingBox3DType) – Bounding box that surrounds the points to keep.

Returns:

Mask that can be used to filter the point cloud.

Return type:

np.ndarray

robotblockset.cameras.point_clouds.crop_point_cloud(point_cloud: PointCloud, bounding_box: Tuple[Tuple[float, float, float], Tuple[float, float, float]]) → PointCloud[source]

Crop a point cloud to a bounding box.

Parameters:

point_cloud (PointCloud) – Point cloud to crop.
bounding_box (BoundingBox3DType) – Bounding box that surrounds the points to keep.

Returns:

Cropped point cloud.

Return type:

PointCloud

robotblockset.cameras.point_clouds.transform_point_cloud(point_cloud: PointCloud, frame_transformation: ndarray) → PointCloud[source]

Transform a point cloud to another frame.

Parameters:

point_cloud (PointCloud) – Point cloud to transform.
frame_transformation (HomogeneousMatrixType) – Transformation matrix from the current frame to the target frame.

Returns:

Transformed point cloud.

Return type:

PointCloud

robotblockset.cameras.point_clouds.point_cloud_to_open3d(point_cloud: PointCloud) → Any[source]

Convert a PointCloud to an Open3D tensor point cloud.

Parameters:: point_cloud (PointCloud) – Point cloud to convert.
Returns:: Open3D tensor point cloud.
Return type:: Any

robotblockset.cameras.point_clouds.open3d_to_point_cloud(pcd: Any) → PointCloud[source]

Convert an Open3D point cloud to PointCloud.

Parameters:: pcd (Any) – Open3D tensor point cloud.
Returns:: Converted point cloud dataclass.
Return type:: PointCloud

robotblockset.cameras.point_clouds.open3d_point(position: ndarray, color: Tuple[float, float, float], radius: float = 0.01) → Any[source]

Creates a small sphere mesh for visualization in open3d.

Parameters:

position (Vector3DType) – 3D position of the point
color (Tuple[float, float, float]) – RGB color of the point as 0-1 floats
radius (float, optional) – radius of the sphere

Returns:

sphere

Return type:

an open3d mesh

Functions

`crop_point_cloud`(point_cloud, bounding_box)	Crop a point cloud to a bounding box.
`filter_point_cloud`(point_cloud, mask)	Filter a point cloud by a mask.
`generate_point_cloud_crop_mask`(point_cloud, ...)	Build a point-cloud crop mask.
`open3d_point`(position, color[, radius])	Creates a small sphere mesh for visualization in open3d.
`open3d_to_point_cloud`(pcd)	Convert an Open3D point cloud to PointCloud.
`point_cloud_to_open3d`(point_cloud)	Convert a PointCloud to an Open3D tensor point cloud.
`transform_point_cloud`(point_cloud, ...)	Transform a point cloud to another frame.
`transform_points`(...)	Applies a transform to a (set of) point(s).