Sensors

Measurement models for pose, velocity, and projective bounding box sensors

class MeasurementModel

Constructors

MeasurementModel.__init__
__init__(self, /, *args, **kwargs)

Methods

MeasurementModel.predict
predict(unknown)

predict(self, state: numpy.ndarray[dtype=float64, shape=(*), order='C']) -> numpy.ndarray[dtype=float64, shape=(*), order='C']

MeasurementModel.raw_dim
raw_dim(unknown)

raw_dim(self) -> int

MeasurementModel.tangent_dim
tangent_dim(unknown)

tangent_dim(self) -> int

MeasurementModel.noise_cov
noise_cov(unknown)

noise_cov(self) -> numpy.ndarray[dtype=float64, shape=(*, *), order='F']

MeasurementModel.set_noise_cov
set_noise_cov(unknown)

set_noise_cov(self, R: numpy.ndarray[dtype=float64, shape=(*, *), order='F']) -> None

class PoseSensor(MeasurementModel)

Constructors

PoseSensor.__init__
__init__(unknown)

__init__(self, R: numpy.ndarray[dtype=float64, shape=(*, *), order='F']) -> None

class VelocitySensor(MeasurementModel)

Constructors

VelocitySensor.__init__
__init__(unknown)

__init__(self, R: numpy.ndarray[dtype=float64, shape=(*, *), order='F']) -> None

class ProjectiveBBoxSensor(MeasurementModel)

Constructors

ProjectiveBBoxSensor.__init__
__init__(unknown)

__init__(self, camera_params: quak._core.CameraParams, R: numpy.ndarray[dtype=float64, shape=(*, *), order='F']) -> None

Methods

ProjectiveBBoxSensor.set_camera_extrinsics
set_camera_extrinsics(unknown)

set_camera_extrinsics(self, R_cw: numpy.ndarray[dtype=float64, shape=(3, 3), order='F'], t_cw: numpy.ndarray[dtype=float64, shape=(3), order='C']) -> None

ProjectiveBBoxSensor.set_object_dimensions
set_object_dimensions(unknown)

set_object_dimensions(self, dims: numpy.ndarray[dtype=float64, shape=(3), order='C']) -> None

class CameraParams

Properties
K
(self) -> numpy.ndarray[dtype=float64, shape=(3, 3), order='F']
R_cw
(self) -> numpy.ndarray[dtype=float64, shape=(3, 3), order='F']
t_cw
(self) -> numpy.ndarray[dtype=float64, shape=(3), order='C']
obj_dims
(self) -> numpy.ndarray[dtype=float64, shape=(3), order='C']
min_depth
(self) -> float

Constructors

CameraParams.__init__
__init__(unknown)

__init__(self) -> None

class NoiseModel

Constructors

NoiseModel.__init__
__init__(self, /, *args, **kwargs)