https://github.com/PRBonn/vdbfusion_ros
ROS1 Wrapper for VDBFusion https://github.com/PRBonn/vdbfusion
https://github.com/PRBonn/vdbfusion_ros
3dmapping lidar-point-cloud rgbd ros tsdf-fusion tsdf-volume
Last synced: 7 months ago
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ROS1 Wrapper for VDBFusion https://github.com/PRBonn/vdbfusion
- Host: GitHub
- URL: https://github.com/PRBonn/vdbfusion_ros
- Owner: PRBonn
- License: mit
- Created: 2022-06-09T13:15:06.000Z (over 3 years ago)
- Default Branch: master
- Last Pushed: 2024-02-16T01:13:54.000Z (over 1 year ago)
- Last Synced: 2025-03-10T16:04:48.397Z (7 months ago)
- Topics: 3dmapping, lidar-point-cloud, rgbd, ros, tsdf-fusion, tsdf-volume
- Language: C++
- Homepage:
- Size: 87.9 KB
- Stars: 62
- Watchers: 8
- Forks: 16
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
- License: LICENSE
- Citation: CITATION.cff
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README
# ROS-VDBFusion: Flexible and Efficient TSDF Integration
A ROS C++ wrapper to the [vdbfusion](https://github.com/PRBonn/vdbfusion) library for flexible and efficient TSDF Integration
## Installation
### OpenVDB
```sh
# Install OpenVDB dependencies
sudo apt-get update && apt-get install --no-install-recommends -y \
libblosc-dev \
libboost-iostreams-dev \
libboost-system-dev \
libboost-system-dev \
libeigen3-dev
# Install OpenVDB from source
git clone --depth 1 https://github.com/nachovizzo/openvdb.git -b nacho/vdbfusion && cd openvdb
mkdir build && cd build && cmake -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DUSE_ZLIB=OFF .. && sudo make -j$(nproc) all install
```
### VDBfusion
```sh
git clone --depth 1 https://github.com/PRBonn/vdbfusion.git && cd vdbfusion
mkdir build && cd build && cmake .. && sudo make -j$(nproc) all install
```
### ROS
For now only [ROS Noetic](http://wiki.ros.org/noetic) is supported.
As an extra dependency install: `sudo apt install ros-noetic-tf2-sensor-msgs`.
On your catkin workspace, clone the vdbfusion_ros:
```sh
cd catkin_ws/src/
git clone https://github.com/PRBonn/vdbfusion_ros.git
catkin build
```
## Usage
### Configuration
1. Create a config file compatible with your dataset and desired tsdf integration parameters using this [template configuration](/config/template.yaml)
2. The PointClouds should be a `sensor_msgs/PointCloud2` message published on a custom topic name which needs to be specified in the config file
3. The Transforms should be either a `tf2_msgs/TFMessage` or a `geometry_msgs/TransformStamped`. See the [template configuration](config/template.yaml) for more details
4. The data can be published either through a rosbag file or directly from another ros node
### Launch
```sh
roslaunch vdbfusion_ros vdbfusion.launch config_file_name:= path_to_rosbag_file:=
```
### Save the VDB Grid and Extract Triangle Mesh
```sh
rosservice call /save_vdb_volume "path: ''"
```
## Dataset Examples
Download the dataset rosbag files from the respective links
### [TU Munich RGB-D SLAM Dataset and Benchmark - FR1DESK2](https://vision.in.tum.de/data/datasets/rgbd-dataset)
- Use the sample [config file](config/FR2Desk2.yaml) provided for this dataset
### [ETH Zurich ASL: Cow and Lady RGBD Dataset](https://projects.asl.ethz.ch/datasets/doku.php?id=iros2017)
- Use the sample [config file](config/CowAndLady.yaml) provided for this dataset
### [KITTI Dataset](http://www.cvlibs.net/datasets/kitti/raw_data.php)
- Convert the dataset into a rosbag file using [kitti2bag](https://github.com/tomas789/kitti2bag)
- Use the sample [config file](config/KITTI.yaml) provided for this dataset
Run the [launch](README.md#launch) command providing config file and rosbag path corresponding to the dataset.
Use the [rosservice](README.md#save-the-vdb-grid-and-extract-triangle-mesh) to save the VDB volume and mesh
## Citation
If you use this library for any academic work, please cite the original [paper](https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2022sensors.pdf).
```bibtex
@article{vizzo2022sensors,
author = {Vizzo, Ignacio and Guadagnino, Tiziano and Behley, Jens and Stachniss, Cyrill},
title = {VDBFusion: Flexible and Efficient TSDF Integration of Range Sensor Data},
journal = {Sensors},
volume = {22},
year = {2022},
number = {3},
article-number = {1296},
url = {https://www.mdpi.com/1424-8220/22/3/1296},
issn = {1424-8220},
doi = {10.3390/s22031296}
}
```
## Others ROS wrappers around VDBFusion
- [vdbfusion_mapping](https://github.com/Kin-Zhang/vdbfusion_mapping): originated to solve [transformation issues](https://github.com/PRBonn/vdbfusion_ros/issues/2) and with color support 
- [vdbfusion_mapping_docker](https://github.com/nachovizzo/vdbfusion_mapping). Same as above, but running in a dockerized enviornment