def _extract_tf_msg(tf_msg):
px = tf_msg.translation.x; py = tf_msg.translation.y; pz = tf_msg.translation.z
ox = tf_msg.rotation.x; oy = tf_msg.rotation.y
oz = tf_msg.rotation.z; ow = tf_msg.rotation.w
quat = [ox, oy, oz, ow]
rot_euler = trans.euler_from_quaternion(quat)
homo_mat = np.mat(trans.quaternion_matrix(quat))
homo_mat[:3,3] = np.mat([[px, py, pz]]).T
return homo_mat, quat, rot_euler
def _extract_pose_msg(pose):
px = pose.position.x; py = pose.position.y; pz = pose.position.z
ox = pose.orientation.x; oy = pose.orientation.y
oz = pose.orientation.z; ow = pose.orientation.w
quat = [ox, oy, oz, ow]
rot_euler = trans.euler_from_quaternion(quat)
homo_mat = np.mat(trans.quaternion_matrix(quat))
homo_mat[:3,3] = np.mat([[px, py, pz]]).T
return homo_mat, quat, rot_euler
def _extract_tf_msg(tf_msg):
px = tf_msg.translation.x; py = tf_msg.translation.y; pz = tf_msg.translation.z
ox = tf_msg.rotation.x; oy = tf_msg.rotation.y
oz = tf_msg.rotation.z; ow = tf_msg.rotation.w
quat = [ox, oy, oz, ow]
rot_euler = trans.euler_from_quaternion(quat)
homo_mat = np.mat(trans.quaternion_matrix(quat))
homo_mat[:3,3] = np.mat([[px, py, pz]]).T
return homo_mat, quat, rot_euler
def _extract_pose_msg(pose):
px = pose.position.x; py = pose.position.y; pz = pose.position.z
ox = pose.orientation.x; oy = pose.orientation.y
oz = pose.orientation.z; ow = pose.orientation.w
quat = [ox, oy, oz, ow]
rot_euler = trans.euler_from_quaternion(quat)
homo_mat = np.mat(trans.quaternion_matrix(quat))
homo_mat[:3,3] = np.mat([[px, py, pz]]).T
return homo_mat, quat, rot_euler
def _make_generic(args):
try:
if type(args[0]) == str:
frame_id = args[0]
header, homo_mat, rot_quat, rot_euler = PoseConv._make_generic(
args[1:])
if homo_mat is None:
return None, None, None, None
if header is None:
header = [0, rospy.Time.now(), '']
header[2] = frame_id
return header, homo_mat, rot_quat, rot_euler
if len(args) == 2:
return PoseConv._make_generic(((args[0], args[1]), ))
elif len(args) == 1:
pose_type = PoseConv.get_type(*args)
if pose_type is None:
return None, None, None, None
if pose_type == 'pose_msg':
homo_mat, rot_quat, rot_euler = PoseConv._extract_pose_msg(
args[0])
return None, homo_mat, rot_quat, rot_euler
elif pose_type == 'pose_stamped_msg':
homo_mat, rot_quat, rot_euler = PoseConv._extract_pose_msg(
args[0].pose)
seq = args[0].header.seq
stamp = args[0].header.stamp
frame_id = args[0].header.frame_id
return [seq, stamp,
frame_id], homo_mat, rot_quat, rot_euler
elif pose_type == 'tf_msg':
homo_mat, rot_quat, rot_euler = PoseConv._extract_tf_msg(
args[0])
return None, homo_mat, rot_quat, rot_euler
elif pose_type == 'tf_stamped_msg':
homo_mat, rot_quat, rot_euler = PoseConv._extract_tf_msg(
args[0].transform)
seq = args[0].header.seq
stamp = args[0].header.stamp
frame_id = args[0].header.frame_id
return [seq, stamp,
frame_id], homo_mat, rot_quat, rot_euler
elif pose_type == 'point_msg':
homo_mat, rot_quat, rot_euler = PoseConv._extract_point_msg(
args[0])
return None, homo_mat, rot_quat, rot_euler
elif pose_type == 'point_stamped_msg':
homo_mat, rot_quat, rot_euler = PoseConv._extract_point_msg(
args[0].point)
seq = args[0].header.seq
stamp = args[0].header.stamp
frame_id = args[0].header.frame_id
return [seq, stamp,
frame_id], homo_mat, rot_quat, rot_euler
elif pose_type == 'twist_msg':
homo_mat, rot_quat, rot_euler = PoseConv._extract_twist_msg(
args[0])
return None, homo_mat, rot_quat, rot_euler
elif pose_type == 'twist_stamped_msg':
homo_mat, rot_quat, rot_euler = PoseConv._extract_twist_msg(
args[0].twist)
seq = args[0].header.seq
stamp = args[0].header.stamp
frame_id = args[0].header.frame_id
return [seq, stamp,
frame_id], homo_mat, rot_quat, rot_euler
elif pose_type == 'homo_mat':
return (None, np.mat(args[0]),
trans.quaternion_from_matrix(args[0]).tolist(),
trans.euler_from_matrix(args[0]))
elif pose_type in [
'pos_rot', 'pos_euler', 'pos_quat', 'pos_axis_angle'
]:
pos_arg = np.mat(args[0][0])
if pos_arg.shape == (1, 3):
# matrix is row, convert to column
pos = pos_arg.T
elif pos_arg.shape == (3, 1):
pos = pos_arg
if pose_type == 'pos_axis_angle':
homo_mat = np.mat(np.eye(4))
homo_mat[:3, :3] = axis_angle_to_rot_mat(
args[0][1][0], args[0][1][1])
quat = trans.quaternion_from_matrix(homo_mat)
rot_euler = trans.euler_from_matrix(homo_mat)
elif pose_type == 'pos_rot':
# rotation matrix
homo_mat = np.mat(np.eye(4))
homo_mat[:3, :3] = np.mat(args[0][1])
quat = trans.quaternion_from_matrix(homo_mat)
rot_euler = trans.euler_from_matrix(homo_mat)
else:
rot_arg = np.mat(args[0][1])
if rot_arg.shape[1] == 1:
rot_arg = rot_arg.T
rot_list = rot_arg.tolist()[0]
if pose_type == 'pos_euler':
# Euler angles rotation
homo_mat = np.mat(trans.euler_matrix(*rot_list))
quat = trans.quaternion_from_euler(*rot_list)
rot_euler = rot_list
elif pose_type == 'pos_quat':
# quaternion rotation
homo_mat = np.mat(
trans.quaternion_matrix(rot_list))
quat = rot_list
rot_euler = trans.euler_from_quaternion(quat)
homo_mat[:3, 3] = pos
return None, homo_mat, np.array(quat), rot_euler
except:
pass
return None, None, None, None
def _make_generic(args):
try:
if type(args[0]) == str:
frame_id = args[0]
header, homo_mat, rot_quat, rot_euler = PoseConv._make_generic(args[1:])
if homo_mat is None:
return None, None, None, None
if header is None:
header = [0, rospy.Time.now(), '']
header[2] = frame_id
return header, homo_mat, rot_quat, rot_euler
if len(args) == 2:
return PoseConv._make_generic(((args[0], args[1]),))
elif len(args) == 1:
pose_type = PoseConv.get_type(*args)
if pose_type is None:
return None, None, None, None
if pose_type == 'pose_msg':
homo_mat, rot_quat, rot_euler = PoseConv._extract_pose_msg(args[0])
return None, homo_mat, rot_quat, rot_euler
elif pose_type == 'pose_stamped_msg':
homo_mat, rot_quat, rot_euler = PoseConv._extract_pose_msg(args[0].pose)
seq = args[0].header.seq
stamp = args[0].header.stamp
frame_id = args[0].header.frame_id
return [seq, stamp, frame_id], homo_mat, rot_quat, rot_euler
elif pose_type == 'tf_msg':
homo_mat, rot_quat, rot_euler = PoseConv._extract_tf_msg(args[0])
return None, homo_mat, rot_quat, rot_euler
elif pose_type == 'tf_stamped_msg':
homo_mat, rot_quat, rot_euler = PoseConv._extract_tf_msg(args[0].transform)
seq = args[0].header.seq
stamp = args[0].header.stamp
frame_id = args[0].header.frame_id
return [seq, stamp, frame_id], homo_mat, rot_quat, rot_euler
elif pose_type == 'point_msg':
homo_mat, rot_quat, rot_euler = PoseConv._extract_point_msg(args[0])
return None, homo_mat, rot_quat, rot_euler
elif pose_type == 'point_stamped_msg':
homo_mat, rot_quat, rot_euler = PoseConv._extract_point_msg(args[0].point)
seq = args[0].header.seq
stamp = args[0].header.stamp
frame_id = args[0].header.frame_id
return [seq, stamp, frame_id], homo_mat, rot_quat, rot_euler
elif pose_type == 'twist_msg':
homo_mat, rot_quat, rot_euler = PoseConv._extract_twist_msg(args[0])
return None, homo_mat, rot_quat, rot_euler
elif pose_type == 'twist_stamped_msg':
homo_mat, rot_quat, rot_euler = PoseConv._extract_twist_msg(args[0].twist)
seq = args[0].header.seq
stamp = args[0].header.stamp
frame_id = args[0].header.frame_id
return [seq, stamp, frame_id], homo_mat, rot_quat, rot_euler
elif pose_type == 'homo_mat':
return (None, np.mat(args[0]), trans.quaternion_from_matrix(args[0]).tolist(),
trans.euler_from_matrix(args[0]))
elif pose_type in ['pos_rot', 'pos_euler', 'pos_quat']:
pos_arg = np.mat(args[0][0])
rot_arg = np.mat(args[0][1])
if pos_arg.shape == (1, 3):
# matrix is row, convert to column
pos = pos_arg.T
elif pos_arg.shape == (3, 1):
pos = pos_arg
if pose_type == 'pos_rot':
# rotation matrix
homo_mat = np.mat(np.eye(4))
homo_mat[:3,:3] = rot_arg
quat = trans.quaternion_from_matrix(homo_mat)
rot_euler = trans.euler_from_matrix(homo_mat)
else:
if rot_arg.shape[1] == 1:
rot_arg = rot_arg.T
rot_list = rot_arg.tolist()[0]
if pose_type == 'pos_euler':
# Euler angles rotation
homo_mat = np.mat(trans.euler_matrix(*rot_list))
quat = trans.quaternion_from_euler(*rot_list)
rot_euler = rot_list
elif pose_type == 'pos_quat':
# quaternion rotation
homo_mat = np.mat(trans.quaternion_matrix(rot_list))
quat = rot_list
rot_euler = trans.euler_from_quaternion(quat)
homo_mat[:3, 3] = pos
return None, homo_mat, np.array(quat), rot_euler
except:
pass
return None, None, None, None