Created ros wrapper for 2D pose estimation.

ros/pose2D_visualizer/package.xml

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+<?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>pose2D_visualizer</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</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>

ros/pose2D_visualizer/pose2D_visualizer/pose2D_visualizer.py

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+import json
+import os
+import sys
+import threading
+import time
+
+import cv2
+from matplotlib import pyplot as plt
+import numpy as np
+import rclpy
+from cv_bridge import CvBridge
+from rclpy.qos import QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
+from sensor_msgs.msg import Image
+from std_msgs.msg import String
+
+filepath = os.path.dirname(os.path.realpath(__file__)) + "/"
+sys.path.append(filepath + "../../../scripts/")
+import test_triangulate
+
+from skelda import utils_view
+
+# ==================================================================================================
+
+bridge = CvBridge()
+node = None
+publisher_img = None
+
+cam_id = "camera01"
+img_input_topic = "/" + cam_id + "/pylon_ros2_camera_node/image_raw"
+pose_input_topic = "/poses/" + cam_id
+img_output_topic = "/" + cam_id + "/img_with_pose"
+
+last_input_image = None
+lock = threading.Lock()
+
+# ==================================================================================================
+
+
+def callback_images(image_data):
+    global last_input_image, lock
+
+    # Convert into cv images from image string
+    if image_data.encoding == "bayer_rggb8":
+        bayer_image = bridge.imgmsg_to_cv2(image_data, "bayer_rggb8")
+        color_image = test_triangulate.bayer2rgb(bayer_image)
+    elif image_data.encoding == "mono8":
+        gray_image = bridge.imgmsg_to_cv2(image_data, "mono8")
+        color_image = cv2.cvtColor(gray_image, cv2.COLOR_GRAY2RGB)
+    elif image_data.encoding == "rgb8":
+        color_image = bridge.imgmsg_to_cv2(image_data, "rgb8")
+    else:
+        raise ValueError("Unknown image encoding:", image_data.encoding)
+
+    time_stamp = image_data.header.stamp.sec + image_data.header.stamp.nanosec / 1.0e9
+
+    with lock:
+        last_input_image = (color_image, time_stamp)
+
+
+# ==================================================================================================
+
+
+def callback_poses(pose_data):
+    global last_input_image, lock
+
+    ptime = time.time()
+    if last_input_image is None:
+        return
+
+    # Convert pose data from json string
+    poses = json.loads(pose_data.data)
+
+    # Collect inputs
+    images_2d = []
+    timestamps = []
+    with lock:
+        img = np.copy(last_input_image[0])
+        ts = last_input_image[1]
+        images_2d.append(img)
+        timestamps.append(ts)
+
+    # Visualize 2D poses
+    bodies2D = poses["bodies2D"]
+    colors = plt.cm.hsv(np.linspace(0, 1, len(bodies2D), endpoint=False)).tolist()
+    colors = [[int(c[0] * 255), int(c[1] * 255), int(c[2] * 255)] for c in colors]
+    for i, body in enumerate(bodies2D):
+        color = list(reversed(colors[i]))
+        img = utils_view.draw_body_in_image(img, body, poses["joints"], color)
+
+    # Publish image with poses
+    publish(img)
+
+    msg = "Visualization time: {:.3f}s"
+    print(msg.format(time.time() - ptime))
+
+
+# ==================================================================================================
+
+
+def publish(img):
+    # Publish image data
+    msg = bridge.cv2_to_imgmsg(img, "rgb8")
+    publisher_img.publish(msg)
+
+
+# ==================================================================================================
+
+
+def main():
+    global node, publisher_img
+
+    # Start node
+    rclpy.init(args=sys.argv)
+    node = rclpy.create_node("pose2D_visualizer")
+
+    # Quality of service settings
+    qos_profile = QoSProfile(
+        reliability=QoSReliabilityPolicy.RELIABLE,
+        history=QoSHistoryPolicy.KEEP_LAST,
+        depth=1,
+    )
+
+    # Create subscribers
+    _ = node.create_subscription(
+        Image,
+        img_input_topic,
+        callback_images,
+        qos_profile,
+    )
+    _ = node.create_subscription(
+        String,
+        pose_input_topic,
+        callback_poses,
+        qos_profile,
+    )
+
+    # Create publishers
+    publisher_img = node.create_publisher(Image, img_output_topic, qos_profile)
+
+    node.get_logger().info("Finished initialization of pose visualizer")
+
+    # Run ros update thread
+    rclpy.spin(node)
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+# ==================================================================================================
+
+if __name__ == "__main__":
+    main()

ros/pose2D_visualizer/setup.cfg

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+[develop]
+script_dir=$base/lib/pose2D_visualizer
+[install]
+install_scripts=$base/lib/pose2D_visualizer

ros/pose2D_visualizer/setup.py

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+from setuptools import setup
+
+package_name = "pose2D_visualizer"
+
+setup(
+    name=package_name,
+    version="0.0.0",
+    packages=[package_name],
+    data_files=[
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    maintainer="root",
+    maintainer_email="root@todo.todo",
+    description="TODO: Package description",
+    license="TODO: License declaration",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": ["pose2D_visualizer = pose2D_visualizer.pose2D_visualizer:main"],
+    },
+)

ros/pose2D_visualizer/test/test_copyright.py

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+# 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.
+
+import pytest
+from ament_copyright.main import main
+
+
+# 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"

ros/pose2D_visualizer/test/test_flake8.py

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+# 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.
+
+import pytest
+from ament_flake8.main import main_with_errors
+
+
+@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)

ros/pose2D_visualizer/test/test_pep257.py

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+# 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.
+
+import pytest
+from ament_pep257.main import main
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found code style errors / warnings"