ecto_pcl

개요

Ecto - A C++/Python Computation Graph Framework : https://plasmodic.github.io/ecto/

https://github.com/plasmodic/ecto

설치

sudo apt-get install ros-indigo-ecto-*

root@lidar0:/workspace# apt-cache search ros-kinetic-ecto ros-kinetic-ecto - Ecto is a hybrid C++/Python development framework for constructing and maintaining pipelines. ros-kinetic-ecto-image-pipeline - Common tools for image based pipelines. ros-kinetic-ecto-opencv - Ecto bindings for common opencv functionality. ros-kinetic-ecto-openni - Ecto bindings for the openni sensor. ros-kinetic-ecto-pcl - Ecto bindings for common PCL functionality. ros-kinetic-ecto-ros - A set of generic cells to interact with ROS root@lidar0:/workspace#

ecto_pcl

example

• Tabletop Segmentation
• Segment the objects from the plane, color them
• Display a point cloud from a PCD file
• Using ecto_pcl with ROS

Display a point cloud from a PCD file

#!/usr/bin/env python

import ecto, ecto_pcl
import sys
import time
import os

plasm = ecto.Plasm()
pcdfile = os.path.join(os.path.dirname(__file__),
                       'cloud.pcd')

if len(sys.argv) > 1:
    pcdfile = sys.argv[1]

reader = ecto_pcl.PCDReader("Reader",
                            filename=pcdfile)

viewer = ecto_pcl.CloudViewer("viewer",
                              window_name="PCD Viewer")

plasm.connect(reader[:] >> viewer[:])

if __name__=="__main__":
    sched = ecto.schedulers.Threadpool(plasm)
    sched.execute(niter=1)
    #sleep 2 seconds and exit.
    time.sleep(2)