transform_helpers.py

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# Copyright 2021 Roboception GmbH
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from geometry_msgs.msg import TransformStamped
 
from visualization_msgs.msg import Marker
from std_msgs.msg import ColorRGBA
 
 
def load_carrier_to_tf(lc, postfix):
    tf = TransformStamped()
    tf.header.frame_id = lc.pose.header.frame_id
    tf.child_frame_id = "lc_{}".format(postfix)
    tf.header.stamp = lc.pose.header.stamp
    tf.transform.translation.x = lc.pose.pose.position.x
    tf.transform.translation.y = lc.pose.pose.position.y
    tf.transform.translation.z = lc.pose.pose.position.z
    tf.transform.rotation = lc.pose.pose.orientation
    return tf
 
 
def lc_to_marker(lc, lc_no, ns):
    m = Marker(action=Marker.ADD, type=Marker.CUBE)
    m.color = ColorRGBA(r=0.0, g=0.2, b=0.8, a=0.3)
    m.header = lc.pose.header
    m.ns = ns
 
    # FIXME: calculate actual bottom and sides
    m.id = lc_no
    m.pose = lc.pose.pose
    m.scale.x = lc.outer_dimensions.x
    m.scale.y = lc.outer_dimensions.y
    m.scale.z = lc.outer_dimensions.z
 
    return m
 
def match_to_tf(match):
    tf = TransformStamped()
    tf.header.frame_id = match.pose.header.frame_id
    tf.child_frame_id = "{}_{}".format(match.template_id, match.uuid)
    tf.header.stamp = match.pose.header.stamp
    tf.transform.translation.x = match.pose.pose.position.x
    tf.transform.translation.y = match.pose.pose.position.y
    tf.transform.translation.z = match.pose.pose.position.z
    tf.transform.rotation = match.pose.pose.orientation
    return tf