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ZhenshengLee / ros2_shm_msgs

ROS2 shm_msg based zero-copy for image and pointcloud.
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open3d not support in docker rolling #1

Closed xixioba closed 2 years ago

xixioba commented 2 years ago

Can we eliminate the dependence on open3d? I want to reproduce it in docker, but it's stuck.

ZhenshengLee commented 2 years ago

@xixioba thanks for your report.

Of cource we can. all we need is an adapter(which is open3d_conversions) between ros pointcloud msg type(here it is point_cloud_8k) and internal data type of a point cloud processing library(here it is open3d)

pcl_conversions can be a good choice, but functions from https://github.com/ros-perception/perception_pcl/blob/ros2/pcl_conversions/include/pcl_conversions/pcl_conversions.h is too much for this demo repo.

PRs are welcomed.

Thanks.

ZhenshengLee commented 2 years ago

@xixioba Hi Now you can compile this package without open3d installed, with #3 being closed. But pcl_conversions of shm_pc is under development and will be merged in days.

Anyway, you can compile it and check the shm-image-transport demo.

Thanks.

ZhenshengLee commented 2 years ago

@xixioba

Hi, I just realized that you are from China, right? https://github.com/xmake-io/xmake/issues/2300

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