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open3d.Vector3dVector(np.array(rgb)/255.0) + open3d_cloud.points = open3d.utility.Vector3dVector(np.array(xyz)) + open3d_cloud.colors = open3d.utility.Vector3dVector(np.array(rgb)/255.0) else: xyz = [(x,y,z) for x,y,z in cloud_data ] # get xyz - open3d_cloud.points = open3d.Vector3dVector(np.array(xyz)) + open3d_cloud.points = open3d.utility.Vector3dVector(np.array(xyz)) # return return open3d_cloud @@ -117,7 +117,7 @@ def convertCloudFromRosToOpen3d(ros_cloud): else: # test XYZRGB point cloud format filename=PYTHON_FILE_PATH+"test_cloud_XYZRGB.pcd" - open3d_cloud = open3d.read_point_cloud(filename) + open3d_cloud = open3d.io.read_point_cloud(filename) rospy.loginfo("Loading cloud from file by open3d.read_point_cloud: ") print(open3d_cloud) print("") @@ -164,9 +164,9 @@ def callback(ros_cloud): # write to file output_filename=PYTHON_FILE_PATH+"conversion_result.pcd" - open3d.write_point_cloud(output_filename, received_open3d_cloud) + open3d.io.write_point_cloud(output_filename, received_open3d_cloud) rospy.loginfo("-- Write result point cloud to: "+output_filename) # draw - open3d.draw_geometries([received_open3d_cloud]) + open3d.visualization.draw_geometries([received_open3d_cloud]) rospy.loginfo("-- Finish display. The program is terminating ...\n") \ No newline at end of file From fbd8be82cc43a0615bd1fd5ac46ffaa8955aa45b Mon Sep 17 00:00:00 2001 From: aaron Date: Mon, 24 Feb 2020 19:11:11 -0500 Subject: [PATCH 2/2] removed conversion result added gitignore --- .gitignore | 1 + conversion_result.pcd | Bin 40164 -> 0 bytes 2 files changed, 1 insertion(+) create mode 100644 .gitignore delete mode 100644 conversion_result.pcd diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..c856343 --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +conversion_result.pcd diff --git a/conversion_result.pcd b/conversion_result.pcd deleted file mode 100644 index 7eeffef10a88eb1c5be0fe30304c52e7adf302d5..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 40164 zcmX_IbzGIp(;pK9Y!Lw!R762a`W#@-fdfiNcXx+?geVH4qJT;pl!`3|sHpJF+MU=f zcDL7S-uo`=`@0|hxSw%%z7sn;^X%-NJ5Ej4)kdb4sjq9QrlaPX5|=zv%_cD=BT`Kk 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