pose_format.utils.normalization_3d module

Classes:

PoseNormalizer(plane, line[, size])

Class to normalize pose using normalization information.

class pose_format.utils.normalization_3d.PoseNormalizer(plane, line, size=1)[source]

Bases: object

Class to normalize pose using normalization information.

Parameters:

plane (PoseNormalizationInfo) – Plane normalization information
line (PoseNormalizationInfo) – Line normalization information
size (float) – The desired size after normalization, defaults to 1

Methods:

`get_normal`(pose)	Get normal vector based on pose "plane"
`get_rotation_angle`(pose)	Gets rotation angle required to rotate pose such that the line is on the Y axis.
`normalize_pose`(pose)	Fully normalizes the pose - rotates to match normals, then rotates in the X-Y plane, and finally scales.
`rotate`(pose, angle)	Rotate pose in the X-Y plane by a custom angle (np.ndarray).
`rotate_to_normal`(pose, normal, around)	Rotate pose so that its normal vector aligns with z-axis.
`scale`(pose)	Scaling of pose

get_normal(pose)[source]

Get normal vector based on pose “plane”

Parameters:

pose (ma.masked_array) – Pose data.

Returns:

normal (ma.masked_array) – Normal vector for pose.
base (ma.masked_array) – Base point -> triangle[:,0] used to compute normal

Return type:

Tuple[MaskedArray, MaskedArray]

Note

Important that plane attributes (p1, p2, p3) are correctly initialized for normal to be correctly computed

get_rotation_angle(pose)[source]

Gets rotation angle required to rotate pose such that the line is on the Y axis.

Parameters:: pose (ma.masked_array) – Pose data
Returns:: Angles (degrees) needed for each pose in the array
Return type:: ma.masked_array

normalize_pose(pose)[source]

Fully normalizes the pose - rotates to match normals, then rotates in the X-Y plane, and finally scales.

Parameters:: pose (ma.masked_array) – original pose data
Returns:: fully normalized pose
Return type:: ma.masked_array

rotate(pose, angle)[source]

Rotate pose in the X-Y plane by a custom angle (np.ndarray).

Parameters:

pose (ma.masked_array) – Original pose data
angle (np.ndarray) – Angles to rotate poses, in degrees.

Returns:

rotated pose

Return type:

ma.masked_array

rotate_to_normal(pose, normal, around)[source]

Rotate pose so that its normal vector aligns with z-axis.

Parameters:

pose (ma.masked_array) – Original pose data
normal (ma.masked_array) – Normal vector with respect to which the pose will be aligned.
around (ma.masked_array) – Points to rotate around

Returns:

The rotated pose

Return type:

ma.masked_array

Raises:

ValueError: – if the shapes of pose, normal, and around aren’t compatible.

Examples

>>> pose = ma.masked_array([[1, 1], [2, 2], [3, 3]])
>>> normal = ma.masked_array([0, 0, 1])
>>> around = ma.masked_array([1, 1])
>>> rotated_pose = normalizer.rotate_to_normal(pose, normal, around)

scale(pose)[source]

Scaling of pose

Parameters:: pose (ma.masked_array) – pose to scale
Returns:: scaled pose
Return type:: ma.masked_array