open3d-ros-helper

• helper for jointly using open3d and numpy in ROS
• currently, supports only XYZ point cloud

Dependencies

• python 2.7
• open3d == 0.9

Features

convert_ros_to_o3d

• convert ros pointcloud to open3d cloud
• sensor_msg.msg.PointCloud2 ⮕ open3d.geometry.PointCloud

convert_o3d_to_ros

• convert open3d pointcloud to ros cloud
• open3d.geometry.PointCloud ⮕ sensor_msg.msg.PointCloud2

do_transform_o3d_cloud

• transform a input cloud with respect to the specific frame
• open3d version of tf2_geometry_msgs.do_transform_point
• open3d.geometry.PointCloud, geometry_msgs.msgs.TransformStamped' ⮕ open3d.geometry.PointCloud`

o3d_cloud_pass_through_filter

• apply a pass through filter with ROI
• reference: https://github.com/powersimmani/example_3d_pass_through-filter_guide
• open3d.geometry.PointCloud, {'x': [min, max], 'y': [min, max], 'z': : [min, max]} ⮕ open3d.geometry.PointCloud

crop_o3d_cloud_with_mask

• crop input cloud according to the mask and camera info
• open3d.geometry.PointCloud, numpy.ndarray (uint16), sensor_msgs.msgs.CameraInfo ⮕ open3d.geometry.PointCloud

icp_refinement

• do point-to-point ICP registration implemented in open3d
• open3d.geometry.PointCloud, open3d.geometry.PointCloud ⮕ open3d.registration.RegistrationResult

icp_refinement_with_ppf_match

• do ICP registration using ppf matching implemented in opencv
• open3d.geometry.PointCloud, open3d.geometry.PointCloud ⮕ numpy.ndarray (4x4)

Future Work

• support XYZRGB point cloud

References

• pcl_herlper: https://github.com/udacity/RoboND-Perception-Exercises