/open3d_ros

ROS interface for open3d

Primary LanguageC++MIT LicenseMIT

open3d_ros

This package provides functions that can convert pointclouds from ROS to Open3D and vice-versa.

Dependencies

  • Eigen3
  • Open3D

System Requirements

  • Ubuntu 18.04+: GCC 5+

Installation

Open3D

git clone --recursive https://github.com/intel-isl/Open3D
cd Open3D && source util/scripts/install-deps-ubuntu.sh
mkdir build && cd build
cmake -DBUILD_EIGEN3=ON -DBUILD_GLEW=ON -DBUILD_GLFW=ON -DBUILD_JSONCPP=ON -DBUILD_PNG=ON -DGLIBCXX_USE_CXX11_ABI=ON -DPYTHON_EXECUTABLE=/usr/bin/python -DBUILD_UNIT_TESTS=ON ..
make -j4
sudo make install

  • You may need to upgrade cmake on your system. This can be done as follows

    sudo apt-add-repository 'deb https://apt.kitware.com/ubuntu/ bionic main'
sudo apt-get update
sudo apt-get install cmake

  • These instructions for installation are compiled from the official instructions and this github issue.

open3d_ros

From Source

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone git@github.com:unr-arl/open3d_ros.git
cd ..
catkin config -DCMAKE_BUILD_TYPE=Release
catkin build open3d_ros
  • Time taken for the conversion functions will be much larger if the package is not built in Release mode.

Usage

There are two functions provided in this library:

void open3d_ros::open3dToRos(const open3d::geometry::PointCloud& pointcloud, sensor_msgs::PointCloud2& ros_pc2, std::string frame_id = "open3d_pointcloud");

void open3d_ros::rosToOpen3d(const sensor_msgs::PointCloud2ConstPtr& ros_pc2, open3d::geometry::PointCloud& o3d_pc, bool skip_colors=false);

Their usage can be seen in examples/ex_pc2_subscribe.cpp and examples/ex_pcd_publish.cpp

  • As Open3D pointclouds only contain points, colors and normals, the interface currently supports XYZ, XYZRGB pointclouds. XYZI pointclouds are handled by placing the intensity value in the colors_.
  • On creating a ROS pointcloud from an Open3D pointcloud, the user is expected to set the timestamp in the header and pass the frame_id to the conversion function.

Documentation

Documentation can be generated using Doxygen and the configuration file by executing doxygen Doxyfile in the package.

Contact

Feel free to contact us for any questions: