curvox

Utility functions for pointclouds, meshes, and voxel grids.

mesh_conversions.py has utilities for converting meshes between ply objects, and ros messages.

cloud_conversions.py has utilities for converting pointclouds between numpy arrays, pointcloud objects, and ros messages

pc_vox_utils.py is for generating binvox files from pointclouds.

Install

$ wget http://www.patrickmin.com/binvox/linux64/binvox
$ chmod a+x binvox
$ mv binvox $HOME/.local/bin
$ sudo apt install python-pytest
$ pip3 install -r requirements.txt --user
$ pip3 install -e . --user

Tests

A few tests have been written in the tests folder. In order to run the test suite

$ cd tests
$ py.test

Dependencies

• ros_numpy