open3d_interface

Example Usage

Launch reconstruction node

ros2 launch open3d_interface yak.launch depth_image_topic:=/camera/depth_image/raw color_image_topic:=/camera/color_image/raw camera_info_topic:=/camera/camera_info

Call service to start reconstruction

ros2 service call /start_reconstruction open3d_interface_msgs/srv/StartYakReconstruction "tracking_frame: 'camera'
relative_frame: 'world'
translation_distance: 0.0
rotational_distance: 0.0
live: true
tsdf_params:
  voxel_length: 0.02
  sdf_trunc: 0.04
  min_box_values: {x: 0.05, y: 0.25, z: 0.1}
  max_box_values: {x: 7.0, y: 3.0, z: 1.2}
rgbd_params: {depth_scale: 1000.0, depth_trunc: 0.75, convert_rgb_to_intensity: false}"

Call service to stop reconstruction

ros2 service call /stop_reconstruction open3d_interface_msgs/srv/StopYakReconstruction "archive_directory: '/home/ros-industrial/open3d_archive/archive'
results_directory: '/home/ros-industrial/open3d_archive/results'"

All of the raw color and depth images along with all of the associated tf data and camera info will be stored in the archive_directory. A mesh file, results_mesh.ply will be saved in the results_directory.

Note: if you leave the archive directory field blank then it will not save any of the images or tf data which can save time when calling stop reconstruction.

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Parameters Explained

tracking_frame: Camera tf frame where the image and depth image are relative to

relative_frame: Base tf frame that the TSDF mesh will be generated relative to

translation_distance: Distance the tracking_frame must travel relative to the relative_frame before another image is allowed to be added to the volume (typically works best with 0 and hasn't yet been thoroughly tested with greater values)

rotational_distance: Rotational distance the tracking_frame must rotate relative to the relative_frame before another image is allowed to be added to the volume (typically works best with 0 and hasn't yet been thoroughly tested with greater values)

live: Whether or not the TSDF integration is performed while receiving images. Setting this to true allows for live visualization of the mesh being generated, but may cause the system to miss some frames

tsdf_params: Parameters related to the TSDF mesh generated

• voxel_length: Controls the size of triangles created (Note: this is not in meters, in units associated with the camera)

• sdf_trunc: Controls how connected to make adjacent points. A higher value will connected more disparate data, a low value requires that points be very close to be connected

• min_box_values: The minimum values of the TSDF volume bounding box used to crop the TSDF mesh that is generated (Leaving all box values as 0 will lead to no bounding box being used)

• max_box_values: The maximum values of the TSDF volume bounding box used to crop the TSDF mesh that is generated

rgbd_params: Parameters relating specifically to the camera being used

• depth_scale: Scale of the data. Set to 1000 to get the output data in meters if the camera's default distance scale is in milimeters

• depth_trunc: The distance at which data beyond is clipped and not used. Example: 1.0 would lead to anything greater than 1.0 meters away from the camera would be ignored

• convert_rgb_to_intensity: Allows for using float type intensity if using grayscale as well. Usually set this to false unless you have a specific reason to do otherwise

For more info see the Open3D documentation on RGBD Integration.

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Running on archived data

Launch script to bringup main reconstruction node and archive player

ros2 launch open3d_interface sim_from_archive.launch.xml image_directory:=</path/to/archived/data> rviz:=true

Call service to start publishing data by parsing through archived camera info, poses, color images, and depth images

ros2 service call /start_publishing std_srvs/srv/Trigger

Call service to start reconstruction

ros2 service call /start_reconstruction open3d_interface_msgs/srv/StartYakReconstruction "tracking_frame: 'sim_camera'
relative_frame: 'world'
translation_distance: 0.0
rotational_distance: 0.0
live: true
tsdf_params:
  voxel_length: 0.02
  sdf_trunc: 0.04
  min_box_values: {x: 0.05, y: 0.25, z: 0.1}
  max_box_values: {x: 7.0, y: 3.0, z: 1.2}
rgbd_params: {depth_scale: 1000.0, depth_trunc: 0.75, convert_rgb_to_intensity: false}"

Call service to stop reconstruction

ros2 service call /stop_reconstruction open3d_interface_msgs/srv/StopYakReconstruction "archive_directory: '/home/ros-industrial/open3d_archive/new_archive'
results_directory: '/home/ros-industrial/open3d_archive/results'"

Call service to stop publishing data

ros2 service call /stop_publishing std_srvs/srv/Trigger

Optionally restart back at the beginning of the data set (The node will automatically cycle back to the first data point and continue forever without intervention)

ros2 service call /restart_publishing std_srvs/srv/Trigger