ros noetic moveit 将点云话题通过open3d进行三角化为一个整体后转换为对应原来点云位姿的环境scene的Python实现函数

下面是一个简单的Python实现函数，可以将点云话题通过open3d进行三角化为一个整体，然后转换为对应原来点云位姿的环境scene：

import open3d as o3d
import rospy
from sensor_msgs.msg import PointCloud2
from tf2_sensor_msgs.tf2_sensor_msgs import do_transform_cloud
from tf import TransformListener

def pointcloud_to_scene(pointcloud_topic, tf_frame, tf_listener):
    pointcloud = None
    while not rospy.is_shutdown():
        try:
            pointcloud = rospy.wait_for_message(pointcloud_topic, PointCloud2, timeout=1.0)
            break
        except:
            rospy.logwarn("Failed to get pointcloud message, retrying...")
    
    if pointcloud is None:
        rospy.logerr("Failed to get pointcloud message, exiting...")
        return None
    
    pointcloud = do_transform_cloud(pointcloud, tf_listener.lookup_transform(tf_frame, pointcloud.header.frame_id, rospy.Time(0)))
    
    pcd = o3d.io.read_point_cloud_from_depth_image(o3d.geometry.Image(np.array(pointcloud.data).reshape((pointcloud.height, pointcloud.width))), o3d.camera.PinholeCameraIntrinsic(o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault))
    
    mesh, _ = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(pcd, depth=8)
    
    mesh.transform(tf_listener.lookup_transform(tf_frame, pointcloud.header.frame_id, rospy.Time(0)))
    
    mesh.compute_vertex_normals()
    
    scene = o3d.geometry.PointCloud()
    
    for i in range(len(mesh.vertices)):
        scene.points.append(mesh.vertices[i])
        scene.colors.append(mesh.vertex_colors[i])
    
    return scene

这个函数首先通过ROS订阅点云话题，然后使用TF库将点云转换到指定的坐标系中。接着，使用open3d将点云进行三角化，然后将三角化后的网格转换为点云并返回。