Package rst.geometry¶

Not documented

Messages¶

clearer: should be made invisible via css

Message BoundingBox¶

class rst.geometry.BoundingBox¶

Constraint: .top_left.x < .image_width

Constraint: .top_left.x + .width <= .image_width

Constraint: .top_left.y < .image_height

Constraint: .top_left.y + .height <= .image_height

A bounding box, which is associated to a raster image.

(0,0)           Image
+----------------------------------+ ^
|                                  |
|    top_left                    |
|    +---------------+ ^           |
|    |               |             |
|    |               | height    | image_height
|    |               |             |
|    +---------------+ v           |
|    <    width     >            |
|                                  |
+----------------------------------+ v
<         image_width            >

All values are in pixels and refer to the associated image.

Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>

@create_collection

top_left¶

Type:	`rst.math.Vec2DInt`

Unit: pixel

Coordinates of the top left corner.

width¶

Type:	`UINT32`

Unit: pixel

Width of the bounding box.

height¶

Type:	`UINT32`

Unit: pixel

Height of the bounding box.

image_width¶

Type:	`UINT32`

Unit: pixel

Width of the image the bounding box is based on.

image_height¶

Type:	`UINT32`

Unit: pixel

Height of the image the bounding box is based on.

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message BoundingBox {

    /**
     * Coordinates of the top left corner.
     */
    // @unit(pixel)
    required math.Vec2DInt top_left = 1;

    /**
     * Width of the bounding box.
     */
    // @unit(pixel)
    required uint32 width = 2;

    /**
     * Height of the bounding box.
     */
    // @unit(pixel)
    required uint32 height = 3;

    /**
     * Width of the image the bounding box is based on.
     */
    // @unit(pixel)
    optional uint32 image_width = 4;

    /**
     * Height of the image the bounding box is based on.
     */
    // @unit(pixel)
    optional uint32 image_height = 5;

}

Message SphericalDirectionFloat¶

class rst.geometry.SphericalDirectionFloat¶

Describes a direction using two angles in a spherical coordinate system which is grounded in a right-handed 3D Cartesian coordinate system. Rotations follow the right-hand rule.

Message PolygonalPatch3D¶

class rst.geometry.PolygonalPatch3D¶

A two-dimensional patch in 3D space bounded by a polygon.

In contrast to planes (with infinite extend) this kind of bounded patch needs a local coordinate system in order to define the borders of the patch. Thus, instead of the widely used point-normal representation, we use a complete 6D pose for describing the location of the plane. We define that the X and Y axes of the resulting coordinate system span the plane. Accordingly, the Z axis corresponds to the normal on the plane. The patch border is a 2D polygon defined by a sequence of Vec2DFloat objects.

In order to construct a 3D representation of the patch, the 2D coordinates of the polygon must be extended by a Z = 0 coordinate and transformed using the 6D pose. The polygon must not be self intersecting.

Code author: Leon Ziegler <lziegler@techfak.uni-bielefeld.de>

base¶

Type:	`rst.geometry.Pose`

The 6D transformation specifying the base (X and Y axes span the plane in which the patch and its bounding polygon reside).

border¶

Type:	array of `rst.math.Vec2DFloat`

Constraint: len(value) >= 3

The 2D polygon defining the border of the patch.

Winding rule: ccw w.r.t. normal (Z axis) (right-hand rule)

Linear segments arise by connecting consecutive entries of the array (including an additional implicit segment connecting the last entry to the first entry).

Order of entries is significant.

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message PolygonalPatch3D {

    /**
     * The 6D transformation specifying the base (X and Y axes span
     * the plane in which the patch and its bounding polygon reside).
     */
    required Pose base = 1;

    /**
     * The 2D polygon defining the border of the patch.
     *
     * Winding rule: ccw w.r.t. normal (Z axis) (right-hand rule)
     *
     * Linear segments arise by connecting consecutive entries of the
     * array (including an additional implicit segment connecting the
     * last entry to the first entry).
     *
     * Order of entries is significant.
     */
    // @constraint(len(value) >= 3)
    repeated math.Vec2DFloat border = 2;

}

Message BoundingBox3DFloat¶

class rst.geometry.BoundingBox3DFloat¶

Bounding-box in 3D in general position and orientation.

The general bounding-box with dimensions width x depth x height is constructed by translating and rotating (via transformation) an axis-aligned bounding-box around its center of mass.

For an axis-aligned version, see AxisAlignedBoundingBox3DFloat.

Code author: Christian Emmerich <cemmeric@cor-lab.de>

Code author: Jan Moringen <jmoringe@techfak.uni-bielefeld.de>

transformation¶

Type:	`rst.geometry.Pose`

Transformation, consisting of translation and orientation, of the center of mass of the bounding-box.

width¶

Type:	`FLOAT32`

Unit: meter

The width (along the X axis) of the box.

depth¶

Type:	`FLOAT32`

Unit: meter

The depth (along the Y axis) of the box.

height¶

Type:	`FLOAT32`

Unit: meter

The height (along the Z axis) of the box.

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message BoundingBox3DFloat {

    /**
     * Transformation, consisting of translation and orientation, of
     * the center of mass of the bounding-box.
     */
    required geometry.Pose transformation = 1;

    /**
     * The width (along the X axis) of the box.
     */
    // @unit(meter)
    required float width = 2;

    /**
     * The depth (along the Y axis) of the box.
     */
    // @unit(meter)
    required float depth = 3;

    /**
     * The height (along the Z axis) of the box.
     */
    // @unit(meter)
    required float height = 4;

}

Message Pose¶

class rst.geometry.Pose¶

Represents the pose (translation and rotation) of something in a coordinate system.

Code author: Arne Nordmann <anordman@techfak.uni-bielefeld.de>

@create_collection

translation¶

Type:	`rst.geometry.Translation`

The translation of the object with respect to the origin of the coordinate system.

rotation¶

Type:	`rst.geometry.Rotation`

The rotation of the object at the position described by translation with respect to the coordinate system.

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message Pose {

    /**
     * The translation of the object with respect to the origin of the
     * coordinate system.
     */
    required Translation translation = 1;

    /**
     * The rotation of the object at the position described by
     * @ref .translation with respect to the coordinate system.
     */
    required Rotation rotation = 2;

}

Message Rotation¶

class rst.geometry.Rotation¶

Constraint: .qw x .qw + .qx x .qx + .qy x .qy + .qz x .qz = 1

Cartesian 3-dimensional rotatory displacement or orientation.

The displacement or orientation (orientation being a rotation from an origin) is in world coordinates and expressed as unit quaternion (all-zero quaternion denotes an invalid orientation/rotation).

Code author: Arne Nordmann <anordman@cor-lab.uni-bielefeld.de>

@create_collection

qw¶

Type:	`FLOAT64`

Angle component of the quaternion.

qx¶

Type:	`FLOAT64`

Defines the orientation of the turning axis wrt. the X axis of the world (or the frame specified in frame_id).

qy¶

Type:	`FLOAT64`

Defines the orientation of the turning axis wrt. the Y axis of the world (or the frame specified in frame_id).

qz¶

Type:	`FLOAT64`

Defines the orientation of the turning axis wrt. the Y axis of the world (or the frame specified in frame_id).

frame_id¶

Type:	`ASCII-STRING`

Identifier for the coordinate frame of the rotation.

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message Rotation {

    /**
     * Angle component of the quaternion.
     */
    required double qw = 4;

    /**
     * Defines the orientation of the turning axis wrt. the X axis of
     * the world (or the frame specified in @ref .frame_id).
     */
    required double qx = 5;

    /**
     * Defines the orientation of the turning axis wrt. the Y axis of
     * the world (or the frame specified in @ref .frame_id).
     */
    required double qy = 6;

    /**
     * Defines the orientation of the turning axis wrt. the Y axis of
     * the world (or the frame specified in @ref .frame_id).
     */
    required double qz = 7;

    /**
     * Identifier for the coordinate frame of the rotation.
     */
    optional string frame_id = 8;

}

Message AxisAlignedBoundingBox3DFloat¶

class rst.geometry.AxisAlignedBoundingBox3DFloat¶

An axis-aligned bounding-box in 3D.

The bounding-box is constructed by spanning at left_front_bottom a rectangular volume of lengths width x depth x height along the positive directions of the X, Y and Z axis respectively.

^ Z
|
|            +----------------------+ ^
|           /                      /|
|          /                      / |
|         /                      /  | height
|        +----------------------+   |
|        |                      |   |
|        |                      |   + v
|     Y  |                      |  / ^
|     ^  |                      | / depth
|    /   |                      |/
|   /    +----------------------+ v
|  /     left_front_bottom
| /      <     width      >
|/
+-----------------------------> X

For a bouding-box in general orientation (i.e. not axis-aligned) see BoundingBox3DFloat.

Code author: Christian Emmerich <cemmeric@cor-lab.de>

Code author: Jan Moringen <jmoringe@techfak.uni-bielefeld.de>

@create_collection

left_front_bottom¶

Type:	`rst.geometry.Translation`

Coordinates of the bottom left front corner.

width¶

Type:	`FLOAT32`

Unit: meter

The width (along the X axis) of the box.

depth¶

Type:	`FLOAT32`

Unit: meter

The depth (along the Y axis) of the box.

height¶

Type:	`FLOAT32`

Unit: meter

The height (along the Z axis) of the box.

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message AxisAlignedBoundingBox3DFloat {

    /**
     * Coordinates of the bottom left front corner.
     */
    required geometry.Translation left_front_bottom = 1;

    /**
     * The width (along the X axis) of the box.
     */
    // @unit(meter)
    required float width = 2;

    /**
     * The depth (along the Y axis) of the box.
     */
    // @unit(meter)
    required float depth = 3;

    /**
     * The height (along the Z axis) of the box.
     */
    // @unit(meter)
    required float height = 4;

}

Message Translation¶

class rst.geometry.Translation¶

Cartesian 3-dimensional translatory displacement or position.

The displacement or position (position being translation from an origin) is expressed in world coordinates.

Code author: Arne Nordmann <anordman@cor-lab.uni-bielefeld.de>

@create_collection

x¶

Type:	`FLOAT64`

Unit: meter

Cartesian displacement along the x axis

y¶

Type:	`FLOAT64`

Unit: meter

Cartesian displacement along the y axis

z¶

Type:	`FLOAT64`

Unit: meter

Cartesian displacement along the z axis

frame_id¶

Type:	`ASCII-STRING`

Identifier for the coordinate frame of the rotation.

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message Translation {

    /**
     * Cartesian displacement along the x axis
     */
    // @unit(meter)
    required double x = 1;

    /**
     * Cartesian displacement along the y axis
     */
    // @unit(meter)
    required double y = 2;

    /**
     * Cartesian displacement along the z axis
     */
    // @unit(meter)
    required double z = 3;

    /**
     * Identifier for the coordinate frame of the rotation.
     */
    optional string frame_id = 8;
}

Package rst.geometry¶

Messages¶

Message BoundingBox¶

Message SphericalDirectionFloat¶

Message PolygonalPatch3D¶

Message BoundingBox3DFloat¶

Message Pose¶

Message Rotation¶

Message AxisAlignedBoundingBox3DFloat¶

Message Translation¶

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