open3d_conversions

Provides conversion functions to and from Open3D datatypes

README

open3d_conversions

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

Dependencies

Eigen3
Open3D

System Requirements

Ubuntu 20.04+: GCC 5+

Installation

Open3D

Instructions to setup Open3D can be found here.

open3d_conversions

In case you are building this package from source, time taken for the conversion functions will be much larger if it is not built in Release mode.

Usage

There are two functions provided in this library:

void open3d_conversions::open3dToRos(const open3d::geometry::PointCloud & pointcloud, sensor_msgs::msg::PointCloud2 & ros_pc2, std::string frame_id = "open3d_pointcloud");

void open3d_conversions::rosToOpen3d(const sensor_msgs::msg::PointCloud2::SharedPtr & ros_pc2, open3d::geometry::PointCloud & o3d_pc, bool skip_colors=false);

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: