feat: init ros2 pkg

.gitignore

@@ -158,3 +158,6 @@ cython_debug/
 #  and can be added to the global gitignore or merged into this file.  For a more nuclear
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
 #.idea/
+
+
+.vscode/

package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>regpipe_ros</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">warra</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

regpipe_ros/hello_world.py

@@ -0,0 +1,11 @@
+import open3d
+import numpy as np
+from . import open3d_conversions
+
+
+def main():
+    print('Hi from regpipe_ros.')
+
+
+if __name__ == '__main__':
+    main()

regpipe_ros/open3d_conversions.py

@@ -0,0 +1,79 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+import numpy as np
+import open3d
+import ros2_numpy
+from sensor_msgs.msg import PointCloud2 as pc2
+from numpy.lib import recfunctions
+from sensor_msgs.msg import PointField
+from std_msgs.msg import Header
+
+# The data structure of each point in ros PointCloud2: 16 bits = x + y + z + rgb
+FIELDS_XYZ = [
+    PointField(name='x', offset=0, datatype=PointField.FLOAT32, count=1),
+    PointField(name='y', offset=4, datatype=PointField.FLOAT32, count=1),
+    PointField(name='z', offset=8, datatype=PointField.FLOAT32, count=1),
+]
+FIELDS_XYZRGB = FIELDS_XYZ + \
+                [PointField(name='rgb', offset=12, datatype=PointField.FLOAT32, count=1)]
+
+
+def to_msg(open3d_cloud, frame_id=None, stamp=None):
+    header = Header()
+    if stamp is not None:
+        header.stamp = stamp
+    if frame_id is not None:
+        header.frame_id = frame_id
+
+    o3d_asarray = np.asarray(open3d_cloud.points)
+
+    o3d_x = o3d_asarray[:, 0]
+    o3d_y = o3d_asarray[:, 1]
+    o3d_z = o3d_asarray[:, 2]
+
+    cloud_data = np.core.records.fromarrays([o3d_x, o3d_y, o3d_z], names='x,y,z')
+
+    if not open3d_cloud.colors:  # XYZ only
+        fields = FIELDS_XYZ
+    else:  # XYZ + RGB
+        fields = FIELDS_XYZRGB
+        color_array = np.array(np.floor(np.asarray(open3d_cloud.colors) * 255), dtype=np.uint8)
+
+        o3d_r = color_array[:, 0]
+        o3d_g = color_array[:, 1]
+        o3d_b = color_array[:, 2]
+
+        cloud_data = np.lib.recfunctions.append_fields(cloud_data, ['r', 'g', 'b'], [o3d_r, o3d_g, o3d_b])
+
+        cloud_data = ros_numpy.point_cloud2.merge_rgb_fields(cloud_data)
+
+    return pc2.create_cloud(header, fields, cloud_data)
+
+
+def from_msg(ros_cloud):
+    xyzrgb_array = ros_numpy.point_cloud2.pointcloud2_to_array(ros_cloud)
+
+    mask = np.isfinite(xyzrgb_array['x']) & np.isfinite(xyzrgb_array['y']) & np.isfinite(xyzrgb_array['z'])
+    cloud_array = xyzrgb_array[mask]
+
+    open3d_cloud = open3d.PointCloud()
+
+    points = np.zeros(cloud_array.shape + (3,), dtype=np.float)
+    points[..., 0] = cloud_array['x']
+    points[..., 1] = cloud_array['y']
+    points[..., 2] = cloud_array['z']
+    open3d_cloud.points = open3d.Vector3dVector(points)
+
+    if 'rgb' in xyzrgb_array.dtype.names:
+        rgb_array = ros_numpy.point_cloud2.split_rgb_field(xyzrgb_array)
+        cloud_array = rgb_array[mask]
+
+        colors = np.zeros(cloud_array.shape + (3,), dtype=np.float)
+        colors[..., 0] = cloud_array['r']
+        colors[..., 1] = cloud_array['g']
+        colors[..., 2] = cloud_array['b']
+
+        open3d_cloud.colors = open3d.Vector3dVector(colors / 255.0)
+
+    return open3d_cloud

setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/regpipe_ros
+[install]
+install_scripts=$base/lib/regpipe_ros

setup.py

@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'regpipe_ros'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='warra',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'hello_world = regpipe_ros.hello_world:main'
+        ],
+    },
+)

test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'