ros noetic moveit 将点云话题的所有点云通过0.10.0 open3d进行三角化python函数

以下是一个将ROS Noetic中的点云话题的所有点云通过0.10.0 Open3D进行三角化的Python函数的示例代码：

import rospy
from sensor_msgs.msg import PointCloud2
import open3d as o3d
from open3d_ros_helper import open3d_ros_helper as orh
from visualization_msgs.msg import MarkerArray, Marker
from geometry_msgs.msg import Point

def pointcloud_callback(msg):
    # Convert ROS point cloud message to Open3D point cloud
    o3d_cloud = orh.rospc_to_o3dpc(msg)
    
    # Triangulate the point cloud
    o3d_cloud.triangulate_points(radius=0.1)
    
    # Convert Open3D mesh to ROS mesh
    ros_mesh = orh.o3d_to_ros_mesh(o3d_cloud)
    
    # Publish the ROS mesh as a marker
    mesh_marker = Marker()
    mesh_marker.header = msg.header
    mesh_marker.type = Marker.TRIANGLE_LIST
    mesh_marker.action = Marker.ADD
    mesh_marker.pose.orientation.w = 1.0
    mesh_marker.scale.x = 1.0
    mesh_marker.scale.y = 1.0
    mesh_marker.scale.z = 1.0
    mesh_marker.color.r = 1.0
    mesh_marker.color.g = 0.0
    mesh_marker.color.b = 0.0
    mesh_marker.color.a = 1.0
    
    for i in range(len(ros_mesh.triangles)):
        triangle = ros_mesh.triangles[i]
        p1 = ros_mesh.vertices[triangle.vertex_indices[0]]
        p2 = ros_mesh.vertices[triangle.vertex_indices[1]]
        p3 = ros_mesh.vertices[triangle.vertex_indices[2]]
        mesh_marker.points.append(Point(x=p1.x, y=p1.y, z=p1.z))
        mesh_marker.points.append(Point(x=p2.x, y=p2.y, z=p2.z))
        mesh_marker.points.append(Point(x=p3.x, y=p3.y, z=p3.z))
    
    mesh_marker_array = MarkerArray()
    mesh_marker_array.markers.append(mesh_marker)
    
    mesh_publisher.publish(mesh_marker_array)

if __name__ == '__main__':
    rospy.init_node('pointcloud_triangularization_node')
    
    # Subscribe to the point cloud topic
    rospy.Subscriber('/my_pointcloud_topic', PointCloud2, pointcloud_callback)
    
    # Create the mesh publisher
    mesh_publisher = rospy.Publisher('/my_mesh_topic', MarkerArray, queue_size=10)
    
    rospy.spin()

这个函数将ROS中的点云话题的所有点云转换为Open3D格式，并使用Open3D库中的triangulate_points函数将其进行三角化。然后，它将使用open3d_ros_helper库中的函数将Open3D格式的三角化模型转换为ROS消息格式，并将其发布到ROS中。此外，它还将三角化模型转换为ROS MarkerArray消息格式，并将其发布到ROS中，以便在RViz中可视化。