Pointcloud Utils
Set of ROS nodes to do some processing with pointclouds.
PLY Reader
There two ways of using this node:
- Read a
plyfile and publish the vertices of the mesh as a PointCloud2 topic in ROS. - Read a Collada
daefile and publish it as Marker in RViz.
Read a ply file
First thing, create a mesh. To import a mesh, in meshlab import the ply or obj file. If you need to add a mesh: Filters -> Set Texture and select the texture (generally is a image file). Once you have a texture, project it to the vertices: Filters -> Transfer: Texture to vertex color. Export the mesh and start the node:
$ roslaunch pointcloud_utils ply_reader_node.launch ply_path:="path/to/mesh"
Read a Collada file
Even simpler. Just run:
$ roslaunch pointcloud_utils ply_reader_node.launch collada_path:="path/to/collada/file"
and then call the service rosservice call /ply_reader_node/publish_collada.
Repeat a PointCloud2 message
Adjust the topics name in the launch file and then run:
$ roslaunch pointcloud_utils pointcloud_repeater_node.launch
Create Mesh from PointCloud2 message
Adjust the topics name in the launch file and then run:
$ roslaunch pointcloud_utils mesh_reconstructor.launch
Pointcloud filter node
Adjust the topics name and the parameters in the launch file and then run:
$ roslaunch pointcloud_utils pointcloud_grid_filter.launch