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`(→ typing_extensions.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`(...)	Convert pose annotation to 4x4 transform matrix.
`get_o3d_obb_from_bounding_box_annotation`(...)	Convert a bounding box annotation to an open3d oriented bounding box.
`o3d_cam_intrinsics_from_ros_cam_info`(...)	Convert ROS CameraInfo to Open3D camera intrinsics.
`convert_ros_to_cv_image`(→ numpy.typing.NDArray)	Convert ROS image message to OpenCV image.
`convert_cv_to_ros_image`(→ sensor_msgs.msg.Image)	Convert OpenCV image to ROS image message.

Module Contents¶

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

Convert ROS CameraInfo message to dictionary.

Parameters:: cam_info – ROS CameraInfo message
Returns:: Dictionary representation of camera info

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

Convert dictionary to ROS CameraInfo message.

Parameters:: dict_cam_info – Dictionary containing camera info
Returns:: ROS CameraInfo message

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 – Position annotation to convert
Returns:: ROS Pose message

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 – Pose annotation to convert
Returns:: ROS Pose message

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

Convert pose annotation to ROS PoseStamped message.

Parameters:

pose_annotation – Pose annotation to convert
header – Header to use for stamped pose

Returns:

ROS PoseStamped message

robokudo.utils.type_conversion.get_geometry_msgs_pose_stamped_from_position_annotation(position_annotation: robokudo.types.annotation.PositionAnnotation, header: std_msgs.msg.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 – Position annotation to convert
header – Header to use for stamped pose

Returns:

ROS PoseStamped message

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

Convert pose annotation to 4x4 transform matrix.

Parameters:: pose_annotation – Pose annotation to convert
Returns:: 4x4 homogeneous transform matrix

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

Convert a bounding box annotation to an open3d oriented bounding box.

Parameters:: bounding_box_annotation – Bounding box annotation to convert
Returns:: Open3D OrientedBoundingBox representation of bounding box annotation

robokudo.utils.type_conversion.o3d_cam_intrinsics_from_ros_cam_info(cam_info: sensor_msgs.msg.CameraInfo) → open3d.camera.PinholeCameraIntrinsic¶

Convert ROS CameraInfo to Open3D camera intrinsics.

Parameters:: cam_info – ROS camera info message
Returns:: Open3D camera intrinsics

robokudo.utils.type_conversion.convert_ros_to_cv_image(ros_image: sensor_msgs.msg.Image) → numpy.typing.NDArray¶

Convert ROS image message to OpenCV image.

Parameters:: ros_image – ROS image message
Returns:: OpenCV image array
Raises:: CvBridgeError – If conversion fails

robokudo.utils.type_conversion.convert_cv_to_ros_image(cv_image: numpy.typing.NDArray) → sensor_msgs.msg.Image¶

Convert OpenCV image to ROS image message.

Parameters:: cv_image – OpenCV image array
Returns:: ROS image message
Raises:: CvBridgeError – If conversion fails