open3d_conversions

Provides conversion functions to and from Open3D datatypes

README

open3d_conversions

This package provides functions that can convert pointclouds and images 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.

Pointcloud Conversion

There are two pointcloud conversion 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.

Image Conversion

There are four image conversion functions provided in this library:

void open3dToRos(
  const open3d::geometry::Image & o3d_img,
  sensor_msgs::msg::Image & ros_img,
  std::string encoding,
  std::string frame_id = "open3d_image");

void open3dToRos(
  const open3d::camera::PinholeCameraIntrinsic & intrinsic,
  sensor_msgs::msg::CameraInfo & camera_info,
  std::string frame_id = "open3d_image");

void rosToOpen3d(
  const sensor_msgs::msg::Image & ros_img,
  open3d::geometry::Image & o3d_img);

void rosToOpen3d(
  const sensor_msgs::msg::CameraInfo & camera_info,
  open3d::camera::PinholeCameraIntrinsic & intrinsic);

Additionally, two explicit move-only versions of the image conversions are provided for efficiency:

void moveOpen3dToRos(
  open3d::geometry::Image && o3d_img,
  sensor_msgs::msg::Image & ros_img,
  std::string encoding,
  std::string frame_id = "open3d_image");

void moveRosToOpen3d(
  sensor_msgs::msg::Image && ros_img,
  open3d::geometry::Image & o3d_img);

As Open3D only stores camera info as a pinhole camera model, distorsion information cannot be inferred from an Open3D -> ROS conversion. Such a conversions sets the distorsion model to “plumb_bob” with all five D parameters equal to zero.

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: