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opendr_bridge package

This opendr_bridge package provides an interface to convert OpenDR data types and targets into ROS-compatible ones similar to CvBridge. The ROSBridge class provides two methods for each data type X:

  1. from_ros_X() : converts the ROS equivalent of X into OpenDR data type
  2. to_ros_X() : converts the OpenDR data type into the ROS equivalent of X

Class ROSBridge

The ROSBridge class provides an interface to convert OpenDR data types and targets into ROS-compatible ones.

The ROSBridge class has the following public methods:

ROSBridge constructor

The constructor only initializes the state of the class and does not require any input arguments.

ROSBridge(self)

ROSBridge.from_ros_image

ROSBridge.from_ros_image(self,
                         message,
                         encoding)

This method converts a ROS Image into an OpenDR image.

Parameters:

  • message: sensor_msgs.msg.Img
    ROS image to be converted into an OpenDR image.
  • encoding: str, default='bgr8'
    Encoding to be used for the conversion (inherited from CvBridge).

ROSBridge.to_ros_image

ROSBridge.to_ros_image(self,
                       image,
                       encoding)

This method converts an OpenDR image into a ROS image.

Parameters:

  • message: engine.data.Image
    OpenDR image to be converted into a ROS message.
  • encoding: str, default='bgr8'
    Encoding to be used for the conversion (inherited from CvBridge).

ROSBridge.from_ros_pose

ROSBridge.from_ros_pose(self,
                        ros_pose)

Converts an OpenDRPose2D message into an OpenDR Pose.

Parameters:

  • ros_pose: opendr_bridge.msg.OpenDRPose2D
    ROS pose to be converted into an OpenDR Pose.

ROSBridge.to_ros_pose

ROSBridge.to_ros_pose(self,
                      pose)

Converts an OpenDR Pose into a OpenDRPose2D msg that can carry the same information, i.e. a list of keypoints, the pose detection confidence and the pose id. Each keypoint is represented as an OpenDRPose2DKeypoint with x, y pixel position on input image with (0, 0) being the top-left corner.

Parameters:

  • pose: engine.target.Pose
    OpenDR Pose to be converted to ROS OpenDRPose2D.

ROSBridge.to_ros_category

ROSBridge.to_ros_category(self,
                          category)

Converts an OpenDR Category used for category recognition into a ROS ObjectHypothesis.

Parameters:

  • message: engine.target.Category
    OpenDR Category used for category recognition to be converted to ROS ObjectHypothesis.

ROSBridge.to_ros_category_description

ROSBridge.to_ros_category_description(self,
                                      category)

Converts an OpenDR Category into a ROS String.

Parameters:

  • message: engine.target.Category
    OpenDR Category to be converted to ROS String.

ROSBridge.from_ros_category

ROSBridge.from_ros_category(self,
                            ros_hypothesis)

Converts a ROS ObjectHypothesis message into an OpenDR Category.

Parameters:

  • message: vision_msgs.msg.ObjectHypothesis
    ROS ObjectHypothesis to be converted into an OpenDR Category.

ROSBridge.from_ros_face

ROSBridge.from_ros_face(self,
                        ros_hypothesis)

Converts a ROS ObjectHypothesis message into an OpenDR Category.

Parameters:

  • message: vision_msgs.msg.ObjectHypothesis
    ROS ObjectHypothesis to be converted into an OpenDR Category.

ROSBridge.to_ros_face

ROSBridge.to_ros_face(self,
                      category)

Converts an OpenDR Category used for face recognition into a ROS ObjectHypothesis.

Parameters:

  • message: engine.target.Category
    OpenDR Category used for face recognition to be converted to ROS ObjectHypothesis.

ROSBridge.to_ros_face_id

ROSBridge.to_ros_face_id(self,
                         category)

Converts an OpenDR Category into a ROS String.

Parameters:

  • message: engine.target.Category
    OpenDR Category to be converted to ROS String.

ROSBridge.to_ros_boxes

ROSBridge.to_ros_boxes(self,
                       box_list)

Converts an OpenDR BoundingBoxList into a Detection2DArray msg that can carry the same information. Each bounding box is represented by its center coordinates as well as its width/height dimensions.

ROSBridge.from_ros_boxes

ROSBridge.from_ros_boxes(self,
                         ros_detections)

Converts a ROS Detection2DArray message with bounding boxes into an OpenDR BoundingBoxList

ROSBridge.from_ros_3Dpose

ROSBridge.from_ros_3Dpose(self,
                          ros_pose)

Converts a ROS pose into an OpenDR pose (used for a 3D pose).

Parameters:

  • ros_pose: geometry_msgs.msg.Pose
    ROS pose to be converted into an OpenDR pose.

ROSBridge.to_ros_3Dpose

ROSBridge.to_ros_3Dpose(self,
                      opendr_pose)

Converts an OpenDR pose into a ROS geometry_msgs.msg.Pose message.

Parameters:

  • opendr_pose: engine.target.Pose
    OpenDR pose to be converted to geometry_msgs.msg.Pose message.

ROSBridge.to_ros_mesh

ROSBridge.to_ros_mesh(self,
                      vertices, faces)

Converts a triangle mesh consisting of vertices, faces into a ROS shape_msgs.msg.Mesh message.

Parameters:

  • vertices: numpy.ndarray
    Vertices (Nx3) of a triangle mesh.

  • faces: numpy.ndarray
    Faces (Nx3) of a triangle mesh.

    ROSBridge.to_ros_colors

ROSBridge.to_ros_colors(self,
                        colors)

Converts a list of colors into a list of ROS std_msgs.msg.colorRGBA messages.

Parameters:

  • colors: list of list of size 3
    List of colors to be converted to a list of ROS colors.

    ROSBridge.from_ros_mesh

ROSBridge.from_ros_mesh(self,
                        ros_mesh)

Converts a ROS mesh into arrays of vertices and faces of a triangle mesh.

Parameters:

  • ros_mesh: shape_msgs.msg.Mesh\

    ROSBridge.from_ros_colors

ROSBridge.from_ros_colors(self,
                          ros_colors)

Converts a list of ROS colors into an array (Nx3).

Parameters:

  • ros_colors: list of std_msgs.msg.colorRGBA

ROSBridge.from_ros_image_to_depth

ROSBridge.from_ros_image_to_depth(self,
                                  message,
                                  encoding)

This method converts a ROS image message into an OpenDR grayscale depth image.

Parameters:

  • message: sensor_msgs.msg.Img
    ROS image to be converted into an OpenDR image.
  • encoding: str, default='mono16'
    Encoding to be used for the conversion.

ROSBridge.from_category_to_rosclass

ROSBridge.from_category_to_rosclass(self,
                                    prediction,
                                    source_data)

This method converts an OpenDR Category object into Classification2D message with class label, confidence, timestamp and optionally corresponding input.

Parameters:

  • prediction: engine.target.Category
    OpenDR Category object
  • source_data: default=None
    Corresponding input, default=None

ROSBridge.from_rosarray_to_timeseries

ROSBridge.from_rosarray_to_timeseries(self,
                                      ros_array,
                                      dim1,
                                      dim2)

This method converts a ROS array into OpenDR Timeseries object.

Parameters:

  • ros_array: std_msgs.msg.Float32MultiArray
    ROS array of data
  • dim1: int
    First dimension
  • dim2: int
    Second dimension

ROSBridge.from_ros_point_cloud

ROSBridge.from_ros_point_cloud(self, point_cloud)

Converts a ROS PointCloud message into an OpenDR PointCloud.

Parameters:

  • point_cloud: sensor_msgs.msg.PointCloud
    ROS PointCloud to be converted.

ROSBridge.to_ros_point_cloud

ROSBridge.to_ros_point_cloud(self, point_cloud)

Converts an OpenDR PointCloud message into a ROS PointCloud.

Parameters:

  • point_cloud: engine.data.PointCloud
    OpenDR PointCloud to be converted.

ROSBridge.from_ros_point_cloud2

ROSBridge.from_ros_point_cloud2(self, point_cloud)

Converts a ROS PointCloud2 message into an OpenDR PointCloud.

Parameters:

  • point_cloud: sensor_msgs.msg.PointCloud2
    ROS PointCloud2 to be converted.

ROSBridge.to_ros_point_cloud2

ROSBridge.to_ros_point_cloud2(self, point_cloud, channels)

Converts an OpenDR PointCloud message into a ROS PointCloud2.

Parameters:

  • point_cloud: engine.data.PointCloud
    OpenDR PointCloud to be converted.
  • channels: str
    Channels to be included in the PointCloud2 message.
    Available channels names are ["rgb", "rgba"]

ROSBridge.from_ros_boxes_3d

ROSBridge.from_ros_boxes_3d(self, ros_boxes_3d, classes)

Converts a ROS Detection3DArray message into an OpenDR BoundingBox3D object.

Parameters:

  • ros_boxes_3d: vision_msgs.msg.Detection3DArray
    The ROS boxes to be converted.

  • classes: [str]
    The array of classes to transform an index into a string name.

ROSBridge.to_ros_boxes_3d

ROSBridge.to_ros_boxes_3d(self, boxes_3d, classes)

Converts an OpenDR BoundingBox3DList object into a ROS Detection3DArray message.

Parameters:

  • boxes_3d: engine.target.BoundingBox3DList
    The ROS boxes to be converted.

  • classes: [str] The array of classes to transform from string name into an index.

ROSBridge.from_ros_tracking_annotation

ROSBridge.from_ros_tracking_annotation(self, ros_detections, ros_tracking_ids, frame)

Converts a pair of ROS messages with bounding boxes and tracking ids into an OpenDR TrackingAnnotationList.

Parameters:

  • ros_detections: sensor_msgs.msg.Detection2DArray
    The boxes to be converted.
  • ros_tracking_ids: std_msgs.msg.Int32MultiArray
    The tracking ids corresponding to the boxes.
  • frame: int, default=-1
    The frame index to assign to the tracking boxes.

ROSBridge.to_ros_single_tracking_annotation

ROSBridge.to_ros_single_tracking_annotation(self, tracking_annotation)

Converts a TrackingAnnotation object to a Detection2D ROS message. This method is intended for single object tracking methods.

Parameters:

  • tracking_annotation: opendr.engine.target.TrackingAnnotation
    The box to be converted.

ROSBridge.from_ros_single_tracking_annotation

ROSBridge.from_ros_single_tracking_annotation(self, ros_detection_box)

Converts a Detection2D ROS message object to a TrackingAnnotation object. This method is intended for single object tracking methods.

Parameters:

  • ros_detection_box: vision_msgs.Detection2D
    The box to be converted.

ROSBridge.from_ros_transcription

ROSBridge.from_ros_transcription(self, ros_transcription)

Converts an LiveSpeech object to a VoskTranscription object.

Parameters:

  • ros_transcription: hri_msgs.msg.LiveSpeech
    A ROS transcription message to be converted.
ROSBridge.to_ros_transcription
ROSBridge.to_ros_transcription(self, transcription)

Converts a VoskTranscription object to an LiveSpeech object.

Parameters:

  • transcription: opendr.engine.target.VoskTranscription
    A VoskTranscription object to be converted.

ROS message equivalence with OpenDR

  1. sensor_msgs.msg.Img is used as an equivalent to engine.data.Image
  2. opendr_bridge.msg.Pose is used as an equivalent to engine.target.Pose
  3. vision_msgs.msg.Detection2DArray is used as an equivalent to engine.target.BoundingBoxList
  4. vision_msgs.msg.Detection2D is used as an equivalent to engine.target.BoundingBox and to engine.target.TrackingAnnotation in single object tracking
  5. geometry_msgs.msg.Pose is used as an equivalent to engine.target.Pose for 3D poses conversion only.
  6. vision_msgs.msg.Detection3DArray is used as an equivalent to engine.target.BoundingBox3DList.
  7. sensor_msgs.msg.PointCloud is used as an equivalent to engine.data.PointCloud.
  8. sensor_msgs.msg.PointCloud2 is used as an equivalent to engine.data.PointCloud.
  9. hri_msgs.msg.LiveSpeech is used as an equivalent to engine.target.VoskTranscription.

ROS services

The following ROS services are implemented (srv folder):

  1. opendr_bridge.OpenDRSingleObjectTracking: can be used to initialize the tracking process of single object trackers, by providing a Detection2D bounding box