ros noetic moveit 将点云话题的所有点云经过open3d三角化后为一个整体后转换成对应点云位姿的环境scene的python函数

您，针对您的问题，我可以提供以下的 python 函数实现：

import open3d as o3d
import rospy
from moveit_msgs.msg import PlanningScene, ObjectColor
from geometry_msgs.msg import PoseStamped
from sensor_msgs.msg import PointCloud2
from tf2_sensor_msgs.tf2_sensor_msgs import do_transform_cloud
from tf2_geometry_msgs import do_transform_pose

def add_pointcloud_to_scene(pointcloud_topic, pointcloud_frame, scene_publisher, color=[0, 0, 0]):
    """
    将指定 topic 的点云转换为场景中的物体并发布到 PlanningScene 中
    :param pointcloud_topic: 点云的 topic
    :param pointcloud_frame: 点云的坐标系
    :param scene_publisher: PlanningScene 的发布者
    :param color: 物体的颜色，RGB 值的数组，默认为黑色
    """
    # 订阅指定 topic 的点云
    rospy.loginfo("Waiting for point cloud message on topic {}...".format(pointcloud_topic))
    pointcloud_msg = rospy.wait_for_message(pointcloud_topic, PointCloud2)

    # 将点云转换成 open3d 点云对象
    rospy.loginfo("Converting point cloud message to open3d point cloud...")
    pointcloud = o3d.geometry.PointCloud()
    pointcloud.points = o3d.utility.Vector3dVector(o3d.io.read_point_cloud_from_msg(pointcloud_msg).points)

    # 将点云进行三角化
    rospy.loginfo("Triangulating point cloud...")
    pointcloud.estimate_normals()
    pointcloud.orient_normals_towards_camera_location()
    pointcloud.triangulate()

    # 获取点云的位姿
    rospy.loginfo("Waiting for point cloud transform from {} to world...".format(pointcloud_frame))
    transform = rospy.wait_for_message("/tf", tf2_msgs.msg.TFMessage)
    transform_stamped = None
    for t in transform.transforms:
        if t.header.frame_id == pointcloud_frame and t.child_frame_id == "world":
            transform_stamped = t
            break
    if transform_stamped is None:
        rospy.logerr("Could not find transform from {} to world".format(pointcloud_frame))
        return
    pose = PoseStamped()
    pose.header.stamp = transform_stamped.header.stamp
    pose.header.frame_id = pointcloud_frame
    pose.pose.orientation = transform_stamped.transform.rotation
    pose.pose.position.x = transform_stamped.transform.translation.x
    pose.pose.position.y = transform_stamped.transform.translation.y
    pose.pose.position.z = transform_stamped.transform.translation.z

    # 将点云位姿转换到 PlanningScene 中的坐标系
    rospy.loginfo("Transforming point cloud pose to planning scene frame...")
    pose_transformed = do_transform_pose(pose, scene_publisher.frame_id)

    # 将点云位姿和颜色添加到 PlanningScene 中
    rospy.loginfo("Adding point cloud to planning scene...")
    scene_msg = PlanningScene()
    scene_msg.is_diff = True
    object_msg = moveit_msgs.msg.CollisionObject()
    object_msg.id = pointcloud_topic
    object_msg.header.frame_id = scene_publisher.frame_id
    object_msg.meshes = [o3d.io.read_triangle_mesh_from_point_cloud(pointcloud).create_mesh_primitive()]
    object_msg.mesh_poses = [pose_transformed.pose]
    object_msg.operation = moveit_msgs.msg.CollisionObject.ADD
    object_color = ObjectColor()
    object_color.id = pointcloud_topic
    object_color.color.r = color[0]
    object_color.color.g = color[1]
    object_color.color.b = color[2]
    object_color.color.a = 1.0
    scene_msg.world.collision_objects = [object_msg]
    scene_msg.object_colors = [object_color]
    scene_publisher.publish(scene_msg)

    rospy.loginfo("Done.")

这个函数可以将指定 topic 的点云转换成场景中的物体，并发布到 PlanningScene 中。其中，点云会进行 open3d 的三角化处理。您需要传递点云的 topic、点云的坐标系、PlanningScene 的发布者以及物体的颜色等参数。函数会等待点云和位姿的消息，并将它们转换成 PlanningScene 中的坐标系。最后，函数会将点云位姿和颜色添加到 PlanningScene 中。

希望这个函数能够满足您的需求。如有疑问，欢迎继续提问。