ravens/utils.py
def reconstruct_heightmaps(color, depth, configs, bounds, pixel_size):
    """Reconstruct top-down heightmap views from multiple 3D pointclouds.

    The color and depth are np.arrays or lists, where the leading dimension
    or list wraps around differnet viewpoints. So, if the np.array shape is
    (3,480,640,3), then the leading '3' denotes the number of camera views.

    TODO: documentation.
    """
    heightmaps, colormaps = [], []
    for color, depth, config in zip(color, depth, configs):
        intrinsics = np.array(config['intrinsics']).reshape(3, 3)
        xyz = get_pointcloud(depth, intrinsics)
        position = np.array(config['position']).reshape(3, 1)
        rotation = p.getMatrixFromQuaternion(config['rotation'])
        rotation = np.array(rotation).reshape(3, 3)
        transform = np.eye(4)
        transform[:3, :] = np.hstack((rotation, position))
        xyz = transform_pointcloud(xyz, transform)
        heightmap, colormap = get_heightmap(xyz, color, bounds, pixel_size)
        heightmaps.append(heightmap)
        colormaps.append(colormap)
    return heightmaps, colormaps
Reconstruct top-down heightmap views from multiple 3D pointclouds.

    The color and depth are np.arrays or lists, where the leading dimension
    or list wraps around differnet viewpoints. So, if the np.array shape is
    (3,480,640,3), then the leading '3' denotes the number of camera views.

    TODO: documentation.
    
Reconstruct top-down heightmap views from multiple 3D pointclouds.
The color and depth are np.arrays or lists, where the leading dimension
or list wraps around differnet viewpoints. So, if the np.array shape is
(3,480,640,3), then the leading '3' denotes the number of camera views.

documentation.
Reconstruct top - down heightmap views from multiple 3D pointclouds . The color and depth are np . arrays or lists where the leading dimension or list wraps around differnet viewpoints . So if the np . array shape is ( 3 480 640 3 ) then the leading ' 3 ' denotes the number of camera views . documentation .
def reconstruct_heightmaps(color, depth, configs, bounds, pixel_size):
    heightmaps, colormaps = [], []
    for color, depth, config in zip(color, depth, configs):
        intrinsics = np.array(config['intrinsics']).reshape(3, 3)
        xyz = get_pointcloud(depth, intrinsics)
        position = np.array(config['position']).reshape(3, 1)
        rotation = p.getMatrixFromQuaternion(config['rotation'])
        rotation = np.array(rotation).reshape(3, 3)
        transform = np.eye(4)
        transform[:3, :] = np.hstack((rotation, position))
        xyz = transform_pointcloud(xyz, transform)
        heightmap, colormap = get_heightmap(xyz, color, bounds, pixel_size)
        heightmaps.append(heightmap)
        colormaps.append(colormap)
    return heightmaps, colormaps
def reconstruct_heightmaps ( color , depth , configs , bounds , pixel_size ) : heightmaps , colormaps = [ ] , [ ] for color , depth , config in zip ( color , depth , configs ) : intrinsics = np . array ( config [ 'intrinsics' ] ) . reshape ( 3 , 3 ) xyz = get_pointcloud ( depth , intrinsics ) position = np . array ( config [ 'position' ] ) . reshape ( 3 , 1 ) rotation = p . getMatrixFromQuaternion ( config [ 'rotation' ] ) rotation = np . array ( rotation ) . reshape ( 3 , 3 ) transform = np . eye ( 4 ) transform [ : 3 , : ] = np . hstack ( ( rotation , position ) ) xyz = transform_pointcloud ( xyz , transform ) heightmap , colormap = get_heightmap ( xyz , color , bounds , pixel_size ) heightmaps . append ( heightmap ) colormaps . append ( colormap ) return heightmaps , colormaps
Reconstruct top-down heightmap views from multiple 3D pointclouds.
Reconstruct top - down heightmap views from multiple 3D pointclouds .
"""Reconstruct top-down heightmap views from multiple 3D pointclouds.

    The color and depth are np.arrays or lists, where the leading dimension
    or list wraps around differnet viewpoints. So, if the np.array shape is
    (3,480,640,3), then the leading '3' denotes the number of camera views.

    TODO: documentation.
    """
color
depth
configs
bounds
pixel_size