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huyaoyu / numpy_2_pointcloud

A ROS node to convert point clouds saved as npy files and publish them.
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How to use #1

Open yicheng6o6 opened 2 years ago

yicheng6o6 commented 2 years ago

Hi, Thank you for the great work.

I am using a VLP-16 lidar for pose estimation, I want to convert point clouds into .npy format, but I saw many different launch files in the package.

Could you give me some suggestions to use your code?

Best wishes, Yicheng

huyaoyu commented 2 years ago

Thank you for reaching out.

I use this repo to do some simple visualization of data resulting from 3D reconstruction or SLAM algorithms. For my research work, I need to visualize point clouds and camera poses in RViz. The point clouds are normally saved to the filesystem as PLY files. And camera poses are saved in a csv file with XYZ position and orientation represented as a quaternion.

I implemented the procedure to convert a point cloud from a NumPy array to ROSmessages. Colored point clouds are also supported. The implementation is in scripts/PointCloudUtils.py file.

Recently, I have added some new launch files to view the point cloud and camera poses at the same time. I recommend first looking at the launch/single/publish_case.launch file to get an idea of how it works. I prepared sample data for you such that you can have a try.

https://drive.google.com/file/d/1QE0tIIZTglq9TdbyY7vZBqtPlNHxEHX2/view?usp=sharing

yicheng6o6 commented 2 years ago

Thank you very much for your reply.

I will try to test:)