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Update to open3d 0.9 w/ ROS Melodic #2

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Update to open3d 0.9 w/ ROS Melodic #2

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939f350
Updated for open3d 0.9
airfield20 Feb 25, 2020
fbd8be8
removed conversion result added gitignore
airfield20 Feb 25, 2020
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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
conversion_result.pcd
14 changes: 7 additions & 7 deletions lib_cloud_conversion_between_Open3D_and_ROS.py
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Expand Up @@ -76,7 +76,7 @@ def convertCloudFromRosToOpen3d(ros_cloud):
cloud_data = list(pc2.read_points(ros_cloud, skip_nans=True, field_names = field_names))

# Check empty
open3d_cloud = open3d.PointCloud()
open3d_cloud = open3d.geometry.PointCloud()
if len(cloud_data)==0:
print("Converting an empty cloud")
return None
Expand All @@ -96,11 +96,11 @@ def convertCloudFromRosToOpen3d(ros_cloud):
rgb = [convert_rgbUint32_to_tuple(rgb) for x,y,z,rgb in cloud_data ]

# combine
open3d_cloud.points = open3d.Vector3dVector(np.array(xyz))
open3d_cloud.colors = 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
Expand All @@ -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("")
Expand Down Expand Up @@ -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")