Merge remote-tracking branch 'upstream/main'

common/helpers/cv2_pcl/src/cv2_pcl/__init__.py

@@ -3,17 +3,24 @@
 import ros_numpy as rnp
 import cv2
 
+from typing import Tuple, Union
+
 Mat = np.ndarray
 
 
-def pcl_to_cv2(pcl: PointCloud2) -> Mat:
+def pcl_to_cv2(
+    pcl: PointCloud2, height: Union[int, None] = None, width: Union[int, None] = None
+) -> Mat:
     """
     Convert a given PointCloud2 message to a cv2 image
     """
 
+    height = height or pcl.height
+    width = width or pcl.width
+
     # Extract rgb image from pointcloud
     frame = np.fromstring(pcl.data, dtype=np.uint8)
-    frame = frame.reshape(pcl.height, pcl.width, 32)
+    frame = frame.reshape(height, width, -1)
     frame = frame[:, :, 16:19]
 
     # Ensure array is contiguous
@@ -22,16 +29,25 @@ def pcl_to_cv2(pcl: PointCloud2) -> Mat:
     return frame
 
 
-def seg_to_centroid(pcl: PointCloud2, xyseg: np.ndarray) -> np.ndarray:
+def seg_to_centroid(
+    pcl: PointCloud2,
+    xyseg: np.ndarray,
+    height: Union[int, None] = None,
+    width: Union[int, None] = None,
+) -> np.ndarray:
     """
     Computes the centroid of a given segment in a pointcloud
     """
 
+    height = height or pcl.height
+    width = width or pcl.width
+
     # Convert xyseg to contours
     contours = xyseg.reshape(-1, 2)
 
     # cv2 image
-    cv_im = pcl_to_cv2(pcl)
+    cv_im = pcl_to_cv2(pcl, height, width)
+
     # Compute mask from contours
     mask = np.zeros(shape=cv_im.shape[:2])
     cv2.fillPoly(mask, pts=[contours], color=(255, 255, 255))
@@ -44,23 +60,35 @@ def seg_to_centroid(pcl: PointCloud2, xyseg: np.ndarray) -> np.ndarray:
 
     # Unpack pointcloud into xyz array
     pcl_xyz = rnp.point_cloud2.pointcloud2_to_xyz_array(pcl, remove_nans=False)
+    pcl_xyz = pcl_xyz.reshape(height, width, 3)
 
     # Extract points of interest
     xyz_points = [pcl_xyz[x][y] for x, y in indices]
 
     return np.nanmean(xyz_points, axis=0)
 
 
-def bb_to_centroid(pcl: PointCloud2, x: int, y: int, w: int, h: int) -> np.ndarray:
+def bb_to_centroid(
+    pcl: PointCloud2,
+    x: int,
+    y: int,
+    w: int,
+    h: int,
+    height: Union[int, None] = None,
+    width: Union[int, None] = None,
+) -> np.ndarray:
     """
     Computes the centroid of a given bounding box in a pointcloud
     """
 
+    height = height or pcl.height
+    width = width or pcl.width
+
     # Convert xywh to bounding box coordinates.
     x1, y1, x2, y2 = x, y, x + w, y + h
 
     # cv2 image
-    frame = pcl_to_cv2(pcl)
+    frame = pcl_to_cv2(pcl, height, width)
     # Compute mask from bounding box
     mask = np.zeros(shape=frame.shape[:2])
     mask[y1:y2, x1:x2] = 255  # bounding box dimensions
@@ -72,6 +100,7 @@ def bb_to_centroid(pcl: PointCloud2, x: int, y: int, w: int, h: int) -> np.ndarr
 
     # Unpack pointcloud into xyz array
     pcl_xyz = rnp.point_cloud2.pointcloud2_to_xyz_array(pcl, remove_nans=False)
+    pcl_xyz = pcl_xyz.reshape(height, width, 3)
 
     # Extract points of interest
     xyz_points = [pcl_xyz[x][y] for x, y in indices]

common/helpers/navigation_helpers/CMakeLists.txt

@@ -0,0 +1,202 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(navigation_helpers)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED geometry_msgs)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES navigation_helpers
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/navigation_helpers.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/navigation_helpers_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_navigation_helpers.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

common/helpers/navigation_helpers/package.xml

@@ -0,0 +1,73 @@
+<?xml version="1.0"?>
+<package format="2">
+<<<<<<<< HEAD:common/helpers/numpy2message/package.xml
+  <name>numpy2message</name>
+  <version>0.0.0</version>
+  <description>Helper functions converting between numpy arrays and ROS messages.</description>
+========
+  <name>navigation_helpers</name>
+  <version>0.0.0</version>
+  <description>The navigation_helpers package</description>
+>>>>>>>> upstream/main:common/helpers/navigation_helpers/package.xml
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+<<<<<<<< HEAD:common/helpers/numpy2message/package.xml
+  <maintainer email="benteng.ma@kcl.ac.uk">Benteng Ma</maintainer>
+========
+  <maintainer email="jared.swift@kcl.ac.uk">Jared Swift</maintainer>
+>>>>>>>> upstream/main:common/helpers/navigation_helpers/package.xml
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+<<<<<<<< HEAD:common/helpers/numpy2message/package.xml
+  <!-- <url type="website">http://wiki.ros.org/numpy2message</url> -->
+========
+  <!-- <url type="website">http://wiki.ros.org/navigation_helpers</url> -->
+>>>>>>>> upstream/main:common/helpers/navigation_helpers/package.xml
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <author email="benteng.ma@kcl.ac.uk">Benteng Ma</author>
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

common/helpers/navigation_helpers/setup.py

@@ -0,0 +1,10 @@
+#!/usr/bin/env python3
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+setup_args = generate_distutils_setup(
+    packages=["navigation_helpers"], package_dir={"": "src"}
+)
+
+setup(**setup_args)