running version for creating map from /tf, /tf_static and point cloud…

.gitignore

@@ -59,4 +59,4 @@ open3d_catkin/tmp
 /open3d_slam_ros/data/*
 !/open3d_slam_ros/data/.gitkeep
 documentation/build
-
+ros/examples_standalone/open3d_rosbag_mapper_mesher/data/

open3d_catkin/CMakeLists.txt

@@ -4,162 +4,138 @@ project(open3d_catkin)
 find_package(catkin REQUIRED)
 
 set(CATKIN_PACKAGE_DEPENDENCIES
-  roscpp
-  roslib
+        roscpp
+        roslib
 )
 
 find_package(catkin REQUIRED COMPONENTS
-  ${CATKIN_PACKAGE_DEPENDENCIES}
+        ${CATKIN_PACKAGE_DEPENDENCIES}
 )
 
 # Check whether open3d can be found
 find_package(Open3D QUIET)
 
 # Color
-if(NOT WIN32)
-  string(ASCII 27 Esc)
-  set(ColourReset "${Esc}[m")
-  set(BoldMagenta "${Esc}[1;35m")
-  set(Magenta     "${Esc}[35m")
-endif()
+if (NOT WIN32)
+    string(ASCII 27 Esc)
+    set(ColourReset "${Esc}[m")
+    set(BoldMagenta "${Esc}[1;35m")
+    set(Magenta "${Esc}[35m")
+endif ()
 
 # 1 - Check whether variable is set -----------------------------------------------------------
-if(DEFINED ENV{Open3D_DIR})
-  set(Open3D_DIR ENV{Open3D_DIR})
-  find_package(Open3D CONFIG REQUIRED)
-  message("${BoldMagenta}INFO: Found manually set path to Open3D. Using version located at $ENV{Open3D_DIR}.${ColourReset}")
-  set(Open3D_INCLUDE_DIR_MAN "${Open3D_DIR}/../../../include/")
-  message("Open3D include path: ${Open3D_INCLUDE_DIRS} , ${Open3D_INCLUDE_DIR_MAN}")
-  message("Open3D libs: ${Open3D_LIBRARIES}")
-  catkin_package(
-  INCLUDE_DIRS 
-    ${Open3D_INCLUDE_DIRS}
-    ${Open3D_INCLUDE_DIR_MAN}
-  LIBRARIES 
-    ${Open3D_LIBRARIES} 
-  CATKIN_DEPENDS
-    ${CATKIN_PACKAGE_DEPENDENCIES}
-  DEPENDS
-    Open3D 
-  )
-# 2 - Check whether open3d is installed -------------------------------------------------------
-elseif(Open3D_FOUND)
-  message("${BoldMagenta}INFO: Found Open3D.${ColourReset}")
-
-  # Path differs whether installed from PPA or (locally) from source
-  if(EXISTS "${Open3D_DIR}/../../../../include/")
-    set(Open3D_INCLUDE_DIR_MAN "${Open3D_DIR}/../../../../include/")
-  else()
+if (DEFINED ENV{Open3D_DIR})
+    set(Open3D_DIR ENV{Open3D_DIR})
+    find_package(Open3D CONFIG REQUIRED)
+    message("${BoldMagenta}INFO: Found manually set path to Open3D. Using version located at $ENV{Open3D_DIR}.${ColourReset}")
     set(Open3D_INCLUDE_DIR_MAN "${Open3D_DIR}/../../../include/")
-  endif()
-
-  message("Open3D libraries: ${Open3D_LIBRARIES}")
-  message("Open3D include path: ${Open3D_INCLUDE_DIRS} , ${Open3D_INCLUDE_DIR_MAN}")
-
-  # FMT
-  find_package(fmt QUIET)
-  if(fmt_FOUND)
-  	message("Linking fmt into open3d_catkin")
-  	catkin_package(
-      INCLUDE_DIRS 
-        ${Open3D_INCLUDE_DIRS}
-        ${Open3D_INCLUDE_DIR_MAN}
-      LIBRARIES 
-        ${Open3D_LIBRARIES}
-        fmt::fmt
-      CATKIN_DEPENDS
-        ${CATKIN_PACKAGE_DEPENDENCIES}
-      DEPENDS
-        Open3D 
+    message("Open3D include path: ${Open3D_INCLUDE_DIRS} , ${Open3D_INCLUDE_DIR_MAN}")
+    message("Open3D libs: ${Open3D_LIBRARIES}")
+    catkin_package(
+            INCLUDE_DIRS
+            ${Open3D_INCLUDE_DIRS}
+            ${Open3D_INCLUDE_DIR_MAN}
+            LIBRARIES
+            ${Open3D_LIBRARIES}
+            CATKIN_DEPENDS
+            ${CATKIN_PACKAGE_DEPENDENCIES}
+            DEPENDS
+            Open3D
     )
-  else()
-  	message("fmt not found. If you get linking errors try installing libfmt with sudo apt install libfmt-dev")
-  	catkin_package(
-      INCLUDE_DIRS 
-        ${Open3D_INCLUDE_DIRS}
-        ${Open3D_INCLUDE_DIR_MAN}
-      LIBRARIES 
-        ${Open3D_LIBRARIES}
-      CATKIN_DEPENDS
-        ${CATKIN_PACKAGE_DEPENDENCIES}
-      DEPENDS
-        Open3D 
-    )  	 
-  endif()
-
-  # Linking other packages
-  catkin_package(
-    INCLUDE_DIRS 
-      ${Open3D_INCLUDE_DIRS}
-      ${Open3D_INCLUDE_DIR_MAN}
-    LIBRARIES 
-      ${Open3D_LIBRARIES}
-    CATKIN_DEPENDS
-      ${CATKIN_PACKAGE_DEPENDENCIES}
-    DEPENDS
-      Open3D 
-  )  	 
-
-
-# 3 - Compile in catkin workspace -------------------------------------------------------------
-else()
-  message("${BoldMagenta}INFO: Neither variable Open3d_DIR is set, nor could Open3D be found, hence compiling in workspace.${ColourReset}")
-  message("${BoldMagenta}INFO: This automatic compilation from source requires CMAKE>3.18.${ColourReset}")
-
-  # Newer version of CMake is required
-  cmake_minimum_required(VERSION 3.18)
-
-  # Catkinization of open3D
-  include(ExternalProject)
-  file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/include)
-
-  ExternalProject_Add(open3d
-    GIT_REPOSITORY "https://github.com/isl-org/Open3D"
-    GIT_TAG "v0.15.1"
-    GIT_PROGRESS "true"
-    CMAKE_CACHE_ARGS "-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=true"
-    PREFIX "${CMAKE_SOURCE_DIR}"
-    SOURCE_DIR "${CMAKE_SOURCE_DIR}/open3d"
-    BINARY_DIR "${CMAKE_SOURCE_DIR}/tmp"
-    CMAKE_ARGS 
-         -DBUILD_SHARED_LIBS=ON
-         -DCMAKE_BUILD_TYPE=RelWithDebInfo
-         -DUSE_SYSTEM_EIGEN3=OFF
-         -DGLIBCXX_USE_CXX11_ABI=ON
-         -DBUILD_PYTHON_MODULE=OFF
-         -DCMAKE_INSTALL_PREFIX=${CATKIN_DEVEL_PREFIX}
-    INSTALL_COMMAND make install && bash "-c" "cp -r ${CMAKE_SOURCE_DIR}/tmp/fmt/include/ ${CATKIN_DEVEL_PREFIX} && cp ${CMAKE_SOURCE_DIR}/tmp/fmt/lib/*.a ${CATKIN_DEVEL_PREFIX}/lib/"
-  )
-
-  catkin_package(
-    INCLUDE_DIRS 
-      ${CATKIN_DEVEL_PREFIX}/include
-    LIBRARIES
-      ${CATKIN_DEVEL_PREFIX}/lib/libOpen3D.so
-      ${CATKIN_DEVEL_PREFIX}/lib/libfmt.a
-    CATKIN_DEPENDS
-  )
-
-  #############
-  ## INSTALL ##
-  #############
-
-  install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/include/
-    DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
-  )
-
-  install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib/
-    DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION}
-  )
-
-  if(${MAKE_LOCAL_INSTALL})
-    message("${BoldMagenta}INFO: Making a local install.${ColourReset}")
-  	add_custom_command (OUTPUT run_install_script___OK 
-                        COMMAND ${CMAKE_SOURCE_DIR}/local_install.sh "${CMAKE_SOURCE_DIR}"
-                        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/)         
-  	add_custom_target(
-  	  RunInstallScript ALL
-  	  DEPENDS run_install_script___OK)
-  endif()
-
-endif()
+    # 2 - Check whether open3d is installed -------------------------------------------------------
+elseif (Open3D_FOUND)
+    message("${BoldMagenta}INFO: Found Open3D.${ColourReset}")
+
+    # Path differs whether installed from PPA or (locally) from source
+    if (EXISTS "${Open3D_DIR}/../../../../include/")
+        set(Open3D_INCLUDE_DIR_MAN "${Open3D_DIR}/../../../../include/")
+    else ()
+        set(Open3D_INCLUDE_DIR_MAN "${Open3D_DIR}/../../../include/")
+    endif ()
+
+    message("Open3D libraries: ${Open3D_LIBRARIES}")
+    message("Open3D include path: ${Open3D_INCLUDE_DIRS} , ${Open3D_INCLUDE_DIR_MAN}")
+
+    # FMT
+    find_package(fmt QUIET)
+    if (fmt_FOUND)
+        message("Found fmt.")
+    else ()
+        message("fmt not found. If you get linking errors try installing libfmt with sudo apt install libfmt-dev")
+    endif ()
+
+    # Catkinization of open3D
+    catkin_package(
+            INCLUDE_DIRS
+            ${Open3D_INCLUDE_DIRS}
+            ${Open3D_INCLUDE_DIR_MAN}
+            LIBRARIES
+            ${Open3D_LIBRARIES}
+            CATKIN_DEPENDS
+            ${CATKIN_PACKAGE_DEPENDENCIES}
+            DEPENDS
+            Open3D
+    )
+
+    # 3 - Compile in catkin workspace -------------------------------------------------------------
+else ()
+    message("${BoldMagenta}INFO: Neither variable Open3d_DIR is set, nor could Open3D be found, hence compiling in workspace.${ColourReset}")
+    message("${BoldMagenta}INFO: This automatic compilation from source requires CMAKE>3.18.${ColourReset}")
+
+    # Newer version of CMake is required
+    cmake_minimum_required(VERSION 3.18)
+
+    # Catkinization of open3D
+    include(ExternalProject)
+    file(MAKE_DIRECTORY ${CATKIN_DEVEL_PREFIX}/include)
+
+    ExternalProject_Add(open3d
+            GIT_REPOSITORY "https://github.com/isl-org/Open3D"
+            GIT_TAG "v0.15.1"
+            GIT_PROGRESS "true"
+            CMAKE_CACHE_ARGS "-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=true"
+            PREFIX "${CMAKE_SOURCE_DIR}"
+            SOURCE_DIR "${CMAKE_SOURCE_DIR}/open3d"
+            BINARY_DIR "${CMAKE_SOURCE_DIR}/tmp"
+            CMAKE_ARGS
+            -DBUILD_SHARED_LIBS=ON
+            -DCMAKE_BUILD_TYPE=RelWithDebInfo
+            -DUSE_SYSTEM_EIGEN3=OFF
+            -DGLIBCXX_USE_CXX11_ABI=ON
+            -DBUILD_PYTHON_MODULE=OFF
+            -DCMAKE_INSTALL_PREFIX=${CATKIN_DEVEL_PREFIX}
+            INSTALL_COMMAND make install && bash "-c" "cp -r ${CMAKE_SOURCE_DIR}/tmp/fmt/include/ ${CATKIN_DEVEL_PREFIX} && cp ${CMAKE_SOURCE_DIR}/tmp/fmt/lib/*.a ${CATKIN_DEVEL_PREFIX}/lib/"
+    )
+
+    catkin_package(
+            INCLUDE_DIRS
+            ${CATKIN_DEVEL_PREFIX}/include
+            LIBRARIES
+            ${CATKIN_DEVEL_PREFIX}/lib/libOpen3D.so
+            ${CATKIN_DEVEL_PREFIX}/lib/libfmt.a
+            CATKIN_DEPENDS
+    )
+
+    #############
+    ## INSTALL ##
+    #############
+
+    install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/include/
+            DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+    )
+
+    install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib/
+            DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION}
+    )
+
+    if (${MAKE_LOCAL_INSTALL})
+        message("${BoldMagenta}INFO: Making a local install.${ColourReset}")
+        add_custom_command(OUTPUT run_install_script___OK
+                COMMAND ${CMAKE_SOURCE_DIR}/local_install.sh "${CMAKE_SOURCE_DIR}"
+                WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/)
+        add_custom_target(
+                RunInstallScript ALL
+                DEPENDS run_install_script___OK)
+    endif ()
+
+endif ()

ros/examples_standalone/open3d_rosbag_mapper_mesher/CMakeLists.txt

@@ -0,0 +1,85 @@
+cmake_minimum_required(VERSION 3.5)
+project(open3d_rosbag_mapper_mesher)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+add_compile_options(-O3)
+
+# Source Files in this Project
+set(SRC_FILES
+        src/lib/RosbagMapperRos.cpp
+        src/lib/MapMesher.cpp
+)
+
+# Catkin Dependencies
+set(CATKIN_PACKAGE_DEPENDENCIES
+        roscpp
+        roslib
+        open3d_conversions
+        open3d_slam
+        open3d_slam_ros
+        eigen_conversions
+        tf
+        tf2
+        tf2_msgs
+        tf2_ros
+        tf2_geometry_msgs
+        rosbag
+        interactive_markers
+        open3d_slam_lua_io
+)
+
+# CMake Dependencies
+find_package(Eigen3 REQUIRED)
+find_package(OpenMP QUIET)
+if (OpenMP_FOUND)
+    add_compile_options("${OpenMP_CXX_FLAGS}")
+    add_definitions(-Dopen3d_slam_ros_OPENMP_FOUND=${OpenMP_FOUND})
+endif ()
+find_package(catkin REQUIRED COMPONENTS
+        ${CATKIN_PACKAGE_DEPENDENCIES}
+)
+
+# Main Catkin Package
+catkin_package(
+        INCLUDE_DIRS
+        include
+        LIBRARIES
+        yaml-cpp
+        ${PROJECT_NAME}
+        CATKIN_DEPENDS
+        ${CATKIN_PACKAGE_DEPENDENCIES}
+        DEPENDS
+)
+
+# Include Directories
+include_directories(
+        include
+        ${catkin_INCLUDE_DIRS}
+        ${EIGEN3_INCLUDE_DIRS}
+        ${YAML_CPP_INCLUDE_DIR}
+        ${OpenMP_CXX_INCLUDE_DIRS}
+)
+
+# Main Library
+add_library(${PROJECT_NAME}
+        ${SRC_FILES}
+)
+
+add_dependencies(${PROJECT_NAME}
+        ${catkin_EXPORTED_TARGETS}
+)
+
+target_link_libraries(${PROJECT_NAME}
+        ${catkin_LIBRARIES}
+        yaml-cpp
+        ${OpenMP_CXX_LIBRARIES}
+)
+
+# Main Node
+add_executable(${PROJECT_NAME}_node
+        src/main_node.cpp)
+target_link_libraries(${PROJECT_NAME}_node
+        ${catkin_LIBRARIES}
+        ${PROJECT_NAME}
+)

ros/examples_standalone/open3d_rosbag_mapper_mesher/include/open3d_rosbag_mapper_mesher/MapMesher.h

@@ -0,0 +1,12 @@
+/*
+* MapMesher.h
+*
+*  Created on: Nov 19, 2024
+*      Author: nubertj
+ */
+
+#pragma once
+
+namespace o3d_slam {
+
+} // namespace o3d_slam