robokudo.utils.type_conversion¶

Type conversion utilities for Robokudo.

This module provides functions for converting between different type representations:

ROS message types to Python dictionaries
Robokudo annotations to ROS geometry messages
Pose and position annotations to transform matrices

The module supports bidirectional conversion between: * ROS CameraInfo messages * Geometry messages (Pose, PoseStamped) * Robokudo annotation types * Transform matrices

Functions¶

`ros_cam_info_to_dict`(→ dict)	Convert ROS CameraInfo message to dictionary.
`ros_cam_info_from_dict`(→ sensor_msgs.msg.CameraInfo)	Convert dictionary to ROS CameraInfo message.
`get_geometry_msgs_pose_from_position_annotation`(...)	Convert position annotation to ROS Pose message.
`get_geometry_msgs_pose_from_pose_annotation`(...)	Convert pose annotation to ROS Pose message.
`get_geometry_msgs_pose_stamped_from_pose_annotation`(...)	Convert pose annotation to ROS PoseStamped message.
`get_geometry_msgs_pose_stamped_from_position_annotation`(...)	Convert position annotation to ROS PoseStamped message.
`get_transform_matrix_from_pose_annotation`(→ numpy.ndarray)	Convert pose annotation to 4x4 transform matrix.
`get_o3d_obb_from_bounding_box_annotation`(...)

Module Contents¶

robokudo.utils.type_conversion.ros_cam_info_to_dict(cam_info: sensor_msgs.msg.CameraInfo) → dict¶

Convert ROS CameraInfo message to dictionary.

Parameters:: cam_info (sensor_msgs.CameraInfo) – ROS CameraInfo message
Returns:: Dictionary representation of camera info
Return type:: dict

robokudo.utils.type_conversion.ros_cam_info_from_dict(dict_cam_info: dict) → sensor_msgs.msg.CameraInfo¶

Convert dictionary to ROS CameraInfo message.

Parameters:: dict_cam_info (dict) – Dictionary containing camera info
Returns:: ROS CameraInfo message
Return type:: sensor_msgs.CameraInfo

robokudo.utils.type_conversion.get_geometry_msgs_pose_from_position_annotation(position_annotation: robokudo.types.annotation.PositionAnnotation) → geometry_msgs.msg.Pose¶

Convert position annotation to ROS Pose message.

Creates a Pose with position from annotation and identity quaternion.

Parameters:: position_annotation (robokudo.types.annotation.PositionAnnotation) – Position annotation to convert
Returns:: ROS Pose message
Return type:: geometry_msgs.msg.Pose

robokudo.utils.type_conversion.get_geometry_msgs_pose_from_pose_annotation(pose_annotation: robokudo.types.annotation.PoseAnnotation) → geometry_msgs.msg.Pose¶

Convert pose annotation to ROS Pose message.

Parameters:: pose_annotation (robokudo.types.annotation.PoseAnnotation) – Pose annotation to convert
Returns:: ROS Pose message
Return type:: geometry_msgs.msg.Pose

robokudo.utils.type_conversion.get_geometry_msgs_pose_stamped_from_pose_annotation(pose_annotation: robokudo.types.annotation.PoseAnnotation, header) → geometry_msgs.msg.PoseStamped¶

Convert pose annotation to ROS PoseStamped message.

Parameters:

pose_annotation (robokudo.types.annotation.PoseAnnotation) – Pose annotation to convert
header (std_msgs.Header) – Header to use for stamped pose

Returns:

ROS PoseStamped message

Return type:

geometry_msgs.msg.PoseStamped

robokudo.utils.type_conversion.get_geometry_msgs_pose_stamped_from_position_annotation(position_annotation: robokudo.types.annotation.PositionAnnotation, header) → geometry_msgs.msg.PoseStamped¶

Convert position annotation to ROS PoseStamped message.

Creates a PoseStamped with position from annotation and identity quaternion.

Parameters:

position_annotation (robokudo.types.annotation.PositionAnnotation) – Position annotation to convert
header (std_msgs.Header) – Header to use for stamped pose

Returns:

ROS PoseStamped message

Return type:

geometry_msgs.msg.PoseStamped

robokudo.utils.type_conversion.get_transform_matrix_from_pose_annotation(pose_annotation: robokudo.types.annotation.PoseAnnotation) → numpy.ndarray¶

Convert pose annotation to 4x4 transform matrix.

Parameters:: pose_annotation (robokudo.types.annotation.PoseAnnotation) – Pose annotation to convert
Returns:: 4x4 homogeneous transform matrix
Return type:: numpy.ndarray

robokudo.utils.type_conversion.get_o3d_obb_from_bounding_box_annotation(bounding_box_annotation: robokudo.types.annotation.BoundingBox3DAnnotation) → open3d.geometry.OrientedBoundingBox¶