ros noetic moveit 将点云话题通过open3d进行三角化Python函数

下面是将ROS Noetic中的点云话题通过Open3D进行三角化的Python函数示例：

import rospy
import open3d as o3d
from sensor_msgs.msg import PointCloud2
import sensor_msgs.point_cloud2 as pc2
import numpy as np

def point_cloud_callback(msg):
    # 将点云消息转换为numpy数组
    point_cloud = np.array([[point[0], point[1], point[2]] for point in pc2.read_points(msg)])
    
    # 创建Open3D点云对象
    pcd = o3d.geometry.PointCloud()
    pcd.points = o3d.utility.Vector3dVector(point_cloud)
    
    # 进行三角化
    pcd.estimate_normals()
    distances = pcd.compute_nearest_neighbor_distance()
    avg_dist = np.mean(distances)
    radius = 3 * avg_dist
    bpa_mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_ball_pivoting(pcd, o3d.utility.DoubleVector([radius, radius*2]))
    
    # 可视化三角化结果
    o3d.visualization.draw_geometries([bpa_mesh])

def main():
    rospy.init_node('point_cloud_triagulation')
    rospy.Subscriber('/your_pointcloud_topic', PointCloud2, point_cloud_callback)
    rospy.spin()

if __name__ == '__main__':
    main()

在上面的代码中，`point_cloud_callback` 函数将点云消息转换为numpy数组，并将其转换为Open3D点云对象。然后使用Ball Pivoting算法对点云进行三角化，并将结果可视化。你只需要将 `'/your_pointcloud_topic'` 替换为你的点云话题名称即可。