This repository provide ROS integration with Intel(R) Open3D pointcloud library for further processing.
The main function in the repository is Open3D_ROS::fromROSMsg
which aims to resemble a similar function under pcl library, pcl::fromROSMsg
. Note however that a copy of the header information is still not implemented yet.
A sample use of the Open3D_ROS::fromROSMsg
is shown in the same class under the Open3D_ROS::callback
function.
To run the sample node create, pass the cloud topic parameter as follows,
rosrun open3d_ros open3d_ros_node cloud_topic:=/camera/depth/points
Or use the provided launch file after modifying the topic name.
roslaunch open3d_ros sample.launch