pydrake.systems.perception

class pydrake.systems.perception.PointCloudConcatenation(id_list, default_rgb=[255.0, 255.0, 255.0])

Bases: pydrake.systems.framework.LeafSystem

point_cloud_CiSi_id0→ X_FCi_id0→ ...→ point_cloud_CiSi_idN→ X_FCi_idN→

PointCloudConcatenation

→ point_cloud_FS

__init__(id_list, default_rgb=[255.0, 255.0, 255.0])

A system that takes in N point clouds of points Si in frame Ci, and N RigidTransforms from frame Ci to F, to put each point cloud in a common frame F. The system returns one point cloud combining all of the transformed point clouds. Each point cloud must have XYZs. RGBs are optional. If absent, those points will be the provided default color.

@param id_list A list containing the string IDs of all of the point

clouds. This is often the serial number of the camera they came from, such as “1” for a simulated camera or “805212060373” for a real camera.

@param default_rgb A list of length 3 containing the RGB values to use

in the absence of PointCloud.rgbs. Values should be between 0 and 255. The default is white.

DoCalcOutput(context, output)