Package rst.geometry¶
Geometry is a branch of mathematics concerned with questions of shape, size, relative position of figures, and the properties of space.
This package contains data types which represent geometrical objects.
See also
- Wikipedia article containing the definition above
- http://en.wikipedia.org/wiki/Geometry
See also
- Corresponding data types in ROS
- http://www.ros.org/wiki/geometry_msgs
Messages¶
- BoundingBox3DFloatSet
- PointPair
- Lengths
- PointCloud2DInt
- Cylinder3DFloatSet
- Cylinder3DFloat
- PointCloudSet3DFloat
- TriangleMesh3DFloatSet
- TriangleMesh3DFloat
- Shape3DFloat
- PointCloud3DFloat
- CameraPose
- ViewFrustum
- FieldOfView
- BoundingBox
- BoundingBox3DFloat
- AxisAlignedBoundingBox3DFloat
- Pose
- Rotation
- Translation
Message BoundingBox3DFloatSet¶
-
class
rst.geometry.
BoundingBox3DFloatSet
¶ A set of
BoundingBox3DFloat
objects.Code author: Christian Emmerich <cemmeric@cor-lab.de>
-
boxes
¶ Type: array of rst.geometry.BoundingBox3DFloat
Empty collection of boxes is allowed. The order of box objects is not significant.
-
message BoundingBox3DFloatSet {
/**
* Empty collection of boxes is allowed.
* The order of box objects is not significant.
*/
repeated geometry.BoundingBox3DFloat boxes = 1;
}
Message PointPair¶
-
class
rst.geometry.
PointPair
¶ A message representing a pair of 2D Points
Code author: TODO
-
first
¶ Type: rst.math.Vec2DFloat
TODO
-
second
¶ Type: rst.math.Vec2DFloat
TODO
-
message PointPair {
/**
* TODO
*/
required math.Vec2DFloat first = 1;
/**
* TODO
*/
required math.Vec2DFloat second = 2;
}
Message Lengths¶
-
class
rst.geometry.
Lengths
¶ A sequence of length measurements (e.g. length of a link in a kinematics chain).
Code author: Arne Nordmann <anordman@techfak.uni-bielefeld.de>
-
lengths
¶ Type: array of FLOAT64
Unit: meter
-
message Lengths {
// @unit(meter)
repeated double lengths = 1;
}
Message PointCloud2DInt¶
-
class
rst.geometry.
PointCloud2DInt
¶ A collection of points in 2D space.
Code author: Jan Moringen <jmoringe@techfak.uni-bielefeld.de>
-
points
¶ Type: array of rst.math.Vec2DInt
The points.
Duplicate entries should be avoided. Order of entries is not significant.
-
message PointCloud2DInt {
/**
* The points.
*
* Duplicate entries should be avoided.
* Order of entries is not significant.
*/
repeated math.Vec2DInt points = 1;
}
Message Cylinder3DFloatSet¶
-
class
rst.geometry.
Cylinder3DFloatSet
¶ A set of
Cylinder3DFloat
objects.Code author: Christian Emmerich <cemmeric@cor-lab.de>
-
cylinders
¶ Type: array of rst.geometry.Cylinder3DFloat
Empty collection of cylinders is allowed. The order of cylinders is not significant.
-
message Cylinder3DFloatSet {
/**
* Empty collection of cylinders is allowed.
* The order of cylinders is not significant.
*/
repeated geometry.Cylinder3DFloat cylinders = 1;
}
Message Cylinder3DFloat¶
-
class
rst.geometry.
Cylinder3DFloat
¶ Cylinder in 3D in general position and orientation.
The general cylinder with dimensions
radius
andheight
is constructed by translating and rotating (viatransformation
) a zero-centered, z-oriented axis-aligned cylinder such as below around its center of mass.<
radius
> .---------------------. / \ / \ + + + ^ |\ /| | \ / | | `---------------------' | | | | Z ^ | | | ^ Y |height
| | / | | |/ | | +-----> X | | | ˙ | | | | | | + + v \ / \ / `---------------------'Code author: Christian Emmerich <cemmeric@cor-lab.de>
-
transformation
¶ Type: rst.geometry.Pose
Transformation, consisting of translation and orientation, of the center of mass of the cylinder.
-
radius
¶ Type: FLOAT32
Unit: meter
The radius of the cylinder.
-
height
¶ Type: FLOAT32
Unit: meter
The height of the cylinder.
-
message Cylinder3DFloat {
/**
* Transformation, consisting of translation and orientation, of
* the center of mass of the cylinder.
*/
required geometry.Pose transformation = 1;
/**
* The radius of the cylinder.
*/
// @unit(meter)
required float radius = 2;
/**
* The height of the cylinder.
*/
// @unit(meter)
required float height = 3;
}
Message PointCloudSet3DFloat¶
-
class
rst.geometry.
PointCloudSet3DFloat
¶ A set of 3D Point clouds.
Code author: Christian Emmerich <cemmeric@cor-lab.de>
-
clouds
¶ Type: array of rst.geometry.PointCloud3DFloat
Empty collection of clouds is allowed. The order of cloud objects is not significant.
-
message PointCloudSet3DFloat {
/**
* Empty collection of clouds is allowed.
* The order of cloud objects is not significant.
*/
repeated geometry.PointCloud3DFloat clouds = 1;
}
Message TriangleMesh3DFloatSet¶
-
class
rst.geometry.
TriangleMesh3DFloatSet
¶ A set of
TriangleMesh3DFloat
objects.Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>
-
meshes
¶ Type: array of rst.geometry.TriangleMesh3DFloat
Empty collection is allowed. Order is not important.
-
message TriangleMesh3DFloatSet {
/**
* Empty collection is allowed. Order is not important.
*/
repeated TriangleMesh3DFloat meshes = 1;
}
Message TriangleMesh3DFloat¶
-
class
rst.geometry.
TriangleMesh3DFloat
¶ Defines a triangle mesh for describing 3D objects through vertices and their assembly to triangles. Edges are therefore only implicitly defined through the definitions of the triangles. Other typical mesh properties like faces, and surfaces are not defined.
Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>
-
vertices
¶ Type: rst.geometry.PointCloud3DFloat
The collection of vertices in the mesh.
-
triangles
¶ Type: array of rst.geometry.TriangleMesh3DFloat.Triangle
Defines the triangles that form the mesh in the form of 3-tuples to indexes in the vertices point cloud. No particular ordering is assumed here.
-
message TriangleMesh3DFloat {
/**
* The collection of vertices in the mesh.
*/
required PointCloud3DFloat vertices = 1;
/**
* Definition of a single triangle in a mesh by means of indices to the
* vertex point cloud for all corners of the triangle. Vertices are indexed
* in counter-clockwise order to define a normal of the triangle that
* points outwards.
*/
message Triangle {
/**
* Index of the first vertex defining the triangle.
*/
required uint32 point1 = 1;
/**
* Index of the second vertex defining the triangle.
*/
required uint32 point2 = 2;
/**
* Index of the third vertex defining the triangle.
*/
required uint32 point3 = 3;
}
/**
* Defines the triangles that form the mesh in the form of 3-tuples to
* indexes in the vertices point cloud. No particular ordering is assumed
* here.
*/
repeated Triangle triangles = 2;
}
Message Triangle¶
-
class
rst.geometry.TriangleMesh3DFloat.
Triangle
¶ Definition of a single triangle in a mesh by means of indices to the vertex point cloud for all corners of the triangle. Vertices are indexed in counter-clockwise order to define a normal of the triangle that points outwards.
-
point1
¶ Type: UINT32
Index of the first vertex defining the triangle.
-
point2
¶ Type: UINT32
Index of the second vertex defining the triangle.
-
point3
¶ Type: UINT32
Index of the third vertex defining the triangle.
-
message Triangle {
/**
* Index of the first vertex defining the triangle.
*/
required uint32 point1 = 1;
/**
* Index of the second vertex defining the triangle.
*/
required uint32 point2 = 2;
/**
* Index of the third vertex defining the triangle.
*/
required uint32 point3 = 3;
}
Message Shape3DFloat¶
-
class
rst.geometry.
Shape3DFloat
¶ Description of a 3D shape as a union of geometric primitives.
New primitive types can be added to this type.
Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>
Code author: Jan Moringen <jmoringe@techfak.uni-bielefeld.de>
-
box
¶ Type: array of rst.geometry.BoundingBox3DFloat
Set of oriented bounding boxes contributing to the described 3D shape.
The order of bounding boxes is not significant.
-
message Shape3DFloat {
/**
* Set of oriented bounding boxes contributing to the described 3D
* shape.
*
* The order of bounding boxes is not significant.
*/
repeated geometry.BoundingBox3DFloat box = 1;
}
Message PointCloud3DFloat¶
-
class
rst.geometry.
PointCloud3DFloat
¶ A collection of points in 3D space.
Code author: Jordi Sanchez Riera <jordi.sanchez-riera@inrialpes.fr>
Todo
correct author?
-
points
¶ Type: array of rst.math.Vec3DFloat
TODO @unit(meter?)
-
message PointCloud3DFloat {
/**
* TODO
*/
// @unit(meter?)
repeated math.Vec3DFloat points = 1;
}
Message CameraPose¶
-
class
rst.geometry.
CameraPose
¶ Pose of a camera with semantic annotation of the axes.
The pure transformation of the camera’s pose (in terms of coordinate systems) does not provide information about the viewing direction. There must be a convention about the semantic meaning of the transformation in order to convey the information about where the camera actually looks.
coordinate_frame
realizes this convention by describing the three axes of the camera’s coordinate system semantically including viewing direction and up direction.Code author: Leon Ziegler <lziegler@techfak.uni-bielefeld.de>
-
coordinate_frame
¶ Type: rst.geometry.CameraPose.CoordinateFrame
Annotation of the axes.
-
pose
¶ Type: rst.geometry.Pose
The pose of the camera’s coordinate system in 3d space relative to a given parent coordinate system.
-
message CameraPose {
/**
* Semantic annotation of the axes. (all right-handed)
*/
enum CoordinateFrame {
/**
* X: right - Y: down - Z: forward (depth axis)
*/
CAMERA_IMAGE_FRAME = 0;
/**
* X: up - Y: right - Z: forward (depth axis)
*/
CAMERA_X_UP_FRAME = 1;
/**
* X: left - Y: up - Z: forward (depth axis)
*/
CAMERA_Y_UP_FRAME = 2;
/**
* X: forward (depth axis) - Y: left - Z: up
*/
LASER_FRAME = 3;
/**
* X: right - Y: up - Z: towards viewer (negative depth axis)
*/
SCREEN_FRAME = 4;
}
/**
* Annotation of the axes.
*/
optional CoordinateFrame coordinate_frame = 1 [default = CAMERA_IMAGE_FRAME];
/**
* The pose of the camera's coordinate system in 3d space relative
* to a given parent coordinate system.
*/
required geometry.Pose pose = 2;
}
Message CoordinateFrame¶
-
class
rst.geometry.CameraPose.
CoordinateFrame
¶ Semantic annotation of the axes. (all right-handed)
-
CAMERA_IMAGE_FRAME
¶ -
= 0
X: right - Y: down - Z: forward (depth axis)
-
CAMERA_X_UP_FRAME
¶ -
= 1
X: up - Y: right - Z: forward (depth axis)
-
CAMERA_Y_UP_FRAME
¶ -
= 2
X: left - Y: up - Z: forward (depth axis)
-
LASER_FRAME
¶ -
= 3
X: forward (depth axis) - Y: left - Z: up
-
SCREEN_FRAME
¶ -
= 4
X: right - Y: up - Z: towards viewer (negative depth axis)
-
enum CoordinateFrame {
/**
* X: right - Y: down - Z: forward (depth axis)
*/
CAMERA_IMAGE_FRAME = 0;
/**
* X: up - Y: right - Z: forward (depth axis)
*/
CAMERA_X_UP_FRAME = 1;
/**
* X: left - Y: up - Z: forward (depth axis)
*/
CAMERA_Y_UP_FRAME = 2;
/**
* X: forward (depth axis) - Y: left - Z: up
*/
LASER_FRAME = 3;
/**
* X: right - Y: up - Z: towards viewer (negative depth axis)
*/
SCREEN_FRAME = 4;
}
Message ViewFrustum¶
-
class
rst.geometry.
ViewFrustum
¶ Constraint:
.maximal_distance > .minimal_distance
A camera’s view frustum.
Adds information about the maximal and minimal perceivable distance (
minimal_distance
,maximal_distance
) of a sensor to the definition of its field of view (fov
).Code author: Leon Ziegler <lziegler@techfak.uni-bielefeld.de>
-
fov
¶ Type: rst.geometry.FieldOfView
The field of view of the frustum.
-
minimal_distance
¶ Type: FLOAT32
Constraint:
value > 0
Unit: meter
The minimal perceivable distance.
-
maximal_distance
¶ Type: FLOAT32
Constraint:
value > 0
Unit: meter
The maximal perceivable distance.
-
message ViewFrustum {
/**
* The field of view of the frustum.
*/
required FieldOfView fov = 1;
/**
* The minimal perceivable distance.
*/
// @constraint(value > 0)
// @unit(meter)
optional float minimal_distance = 2 [default = 0];
/**
* The maximal perceivable distance.
*/
// @constraint(value > 0)
// @unit(meter)
optional float maximal_distance = 3 [default = 99999];
}
Message FieldOfView¶
-
class
rst.geometry.
FieldOfView
¶ The field of view of a sensor.
The sensor’s FOV is defined as the angular extent of a scene that is imaged by a visual sensor. The outermost observable ray that falls in a sensor’s FOV has the angular distance +/- AOV/2.0 from the optical axis in the respective extent (vertical/horizontal). The angles are given in radian.
Code author: Leon Ziegler <lziegler@techfak.uni-bielefeld.de>
-
horizontal_aov
¶ Type: FLOAT32
Constraint:
value > 0
Unit: radian
An angle defining the horizontal bounds of the FOV.
-
vertical_aov
¶ Type: FLOAT32
Constraint:
value > 0
Unit: radian
An angle defining the vertical bounds of the FOV.
-
message FieldOfView {
/**
* An angle defining the horizontal bounds of the FOV.
*/
// @constraint(value > 0)
// @unit(radian)
required float horizontal_aov = 1;
/**
* An angle defining the vertical bounds of the FOV.
*/
// @constraint(value > 0)
// @unit(radian)
required float vertical_aov = 2;
}
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>
-
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.
-
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 BoundingBox3DFloat¶
-
class
rst.geometry.
BoundingBox3DFloat
¶ Bounding-box in 3D in general position and orientation.
The general bounding-box with dimensions
width
xdepth
xheight
is constructed by translating and rotating (viatransformation
) 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.
-
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 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 lengthswidth
xdepth
xheight
along the positive directions of the X, Y and Z axis respectively.^ Z | | +----------------------+ ^ | / /| | / / | | / / |
height
| +----------------------+ | | | | | | | | + v | Y | | / ^ | ^ | | /depth
| / | |/ | / +----------------------+ v | /left_front_bottom
| / <width
> |/ +-----------------------------> XFor 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>
-
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.
-
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 Pose¶
-
class
rst.geometry.
Pose
¶ Pose data (camera, robot, ...).
Todo
extend explanation
Code author: Arne Nordmann <anordman@techfak.uni-bielefeld.de>
-
translation
¶ Type: rst.geometry.Translation
TODO
-
rotation
¶ Type: rst.geometry.Rotation
TODO
-
message Pose {
/**
* TODO
*/
required Translation translation = 1;
/**
* TODO
*/
required Rotation rotation = 2;
}
Message Rotation¶
-
class
rst.geometry.
Rotation
¶ 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>
-
qw
¶ Type: FLOAT64
TODO
-
qx
¶ Type: FLOAT64
TODO
-
qy
¶ Type: FLOAT64
TODO
-
qz
¶ Type: FLOAT64
TODO
-
frame_id
¶ Type: ASCII-STRING
Identifier for the coordinate frame of the rotation.
-
message Rotation {
/**
* TODO
*/
required double qw = 4;
/**
* TODO
*/
required double qx = 5;
/**
* TODO
*/
required double qy = 6;
/**
* TODO
*/
required double qz = 7;
/**
* Identifier for the coordinate frame of the rotation.
*/
optional string frame_id = 8;
}
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>
-
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.
-
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;
}