https://github.com/cyberagentailab/pointcloud2gazebo
pointcloud2gazebo is a package that allows you to create a Gazebo World from a 3D point cloud.
https://github.com/cyberagentailab/pointcloud2gazebo
Last synced: 8 months ago
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pointcloud2gazebo is a package that allows you to create a Gazebo World from a 3D point cloud.
- Host: GitHub
- URL: https://github.com/cyberagentailab/pointcloud2gazebo
- Owner: CyberAgentAILab
- License: bsd-3-clause
- Created: 2023-12-12T07:40:57.000Z (over 2 years ago)
- Default Branch: main
- Last Pushed: 2023-12-12T07:46:56.000Z (over 2 years ago)
- Last Synced: 2025-09-10T07:42:52.647Z (9 months ago)
- Language: Python
- Size: 8.49 MB
- Stars: 94
- Watchers: 3
- Forks: 5
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# pointcloud2gazebo
## Introduction
`pointcloud2gazebo` is a package that allows you to create a Gazebo World from a 3D point cloud.
|Input Point Cloud|Generated Mesh|Gazebo World|
|:---:|:---:|:---:|
||||
### Demo Movie
The following demo showcases a robot navigating a Gazebo World generated by this package.
## Requirements
- python ==3.10
- Open3D
- NumPy
- Traitlets
## Preparation
### Installing the Package
```shell
pip install -r requirements.txt
```
If you use Docker for setup of this tool, please execute the following command.
```shell
docker build -t pointcloud2gazebo .
./launch_container.sh
```
### Generating 3D Point Cloud Map
You will need to generate a 3D point cloud map. As an example, we have prepared [data/cloud.ply](data/cloud.ply). This data was generated using [RTAB-Map](https://apps.apple.com/td/app/rtab-map-3d-lidar-scanner/id1564774365).
## Usage
### Generating a Gazebo World
```shell
python3 generate_world.py --input=data/cloud.ply
```
If you enable to visualize mesh, please add `--vis` option.
```shell
python3 generate_world.py --input=data/cloud.ply --vis
```
If you encounter the following error, please execute `xhost +local:` before execute `generate_world.py`.
```shell
$ python3 generate_world.py --input=data/cloud.ply --vis
No protocol specified
[Open3D WARNING] GLFW Error: X11: Failed to open display :0
[Open3D WARNING] Failed to initialize GLFW
[Open3D WARNING] [DrawGeometries] Failed creating OpenGL window.
```
### Copying the Generated Gazebo World to `GAZEBO_MODEL_PATH`
```shell
mkdir -p ~/.gazebo/models
cp -r models/pointcloud2gazebo ~/.gazebo/models/
```
### Launching the Gazebo World
If you try to spawn Gazebo World generated by this package, you need to install Gazebo. Please read [official document](https://classic.gazebosim.org/tutorials?tut=install_ubuntu&cat=install).
```shell
gazebo worlds/pointcloud2gazebo.world
```
## Appendix
### Configuration
You can customize the package using [config/config.py](config/config.py).
|Parameter|Description|Type|Unit|
|---|---|---|---|
|Crop.min_z|Minimum height of points to create Gazebo world.|float|meter|
|Crop.max_z|Maximum height of points to create Gazebo world.|float|meter|
|NoiseRemoval.nb_points|Number of points within the radius. Refer to [open3d.geometry.PointCloud.remove_radius_outlier](http://www.open3d.org/docs/release/python_api/open3d.geometry.PointCloud.html#open3d.geometry.PointCloud.remove_radius_outlier).|int|-|
|NoiseRemoval.radius|Radius of the sphere. Refer to [open3d.geometry.PointCloud.remove_radius_outlier](http://www.open3d.org/docs/release/python_api/open3d.geometry.PointCloud.html#open3d.geometry.PointCloud.remove_radius_outlier).|float|meter|
|VoxelDownSample.voxel_size|Voxel size to downsample into. Refer to [open3d.geometry.PointCloud.voxel_down_sample](http://www.open3d.org/docs/release/python_api/open3d.geometry.PointCloud.html#open3d.geometry.PointCloud.voxel_down_sample).|float|meter|
|TriangleMesh.alpha|Parameter to control the shape. A large value will yield a shape close to the convex hull. Refer to [open3d.geometry.TriangleMesh.create_from_point_cloud_alpha_shape](http://www.open3d.org/docs/release/python_api/open3d.geometry.TriangleMesh.html#open3d.geometry.TriangleMesh.create_from_point_cloud_alpha_shape).|float|-|
The sample data ([data/cloud.ply](data/cloud.ply)) was generated using [RTAB-Map](https://apps.apple.com/td/app/rtab-map-3d-lidar-scanner/id1564774365). The following parameters were set for this data:
```python
c.Crop.min_z = -1.2
c.Crop.max_z = 1.0
```