ros noetic moveit 将点云话题通过0.10.0版本的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

以下是一个基本的Python实现函数，它将点云话题转换为对应原始点云的位姿环境场景。该函数使用了Open3D库进行点云三角化和转换。

import rospy
import open3d as o3d
import numpy as np
from sensor_msgs.msg import PointCloud2
from geometry_msgs.msg import PoseStamped
from moveit_msgs.msg import PlanningScene, PlanningSceneWorld, CollisionObject

def pointcloud_to_scene_callback(pointcloud_msg):
    # Convert point cloud message to numpy array
    pointcloud = ros_numpy.numpify(pointcloud_msg)

    # Convert numpy array to open3d point cloud
    pcd = o3d.geometry.PointCloud()
    pcd.points = o3d.utility.Vector3dVector(pointcloud.reshape(-1, 3))

    # Triangulate the point cloud
    mesh, _ = pcd.compute_convex_hull()

    # Convert the mesh to a moveit collision object
    collision_object = CollisionObject()
    collision_object.header = pointcloud_msg.header
    collision_object.operation = CollisionObject.ADD
    collision_object.id = "pointcloud_mesh"

    for triangle in np.asarray(mesh.triangles):
        vertex_indices = []
        for vertex_index in triangle:
            vertex_indices.append(triangle[vertex_index])
        collision_object.mesh.triangles.append(vertex_indices)

    for vertex in np.asarray(mesh.vertices):
        point = o3d.utility.Vector3dVector(vertex)
        collision_object.mesh.vertices.append(point)

    # Get the pose of the original point cloud
    pose_stamped = PoseStamped()
    pose_stamped.header = pointcloud_msg.header
    pose_stamped.pose.orientation.w = 1.0
    pose_stamped.pose.position.x = 0.0
    pose_stamped.pose.position.y = 0.0
    pose_stamped.pose.position.z = 0.0

    # Add the collision object to the planning scene
    planning_scene = PlanningScene()
    planning_scene.world.collision_objects.append(collision_object)
    planning_scene.is_diff = True
    planning_scene_diff_publisher.publish(planning_scene)

if __name__ == '__main__':
    rospy.init_node('pointcloud_to_scene')
    pointcloud_subscriber = rospy.Subscriber("pointcloud_topic", PointCloud2, pointcloud_to_scene_callback)
    planning_scene_diff_publisher = rospy.Publisher("/move_group/planning_scene", PlanningScene)
    rospy.spin()

在这个实现函数中，我们首先将ROS点云消息转换为numpy数组，并将其转换为Open3D点云。然后，我们使用Open3D库中的函数将点云三角化为一个网格。接下来，我们将网格转换为一个MoveIt碰撞物体，并将其放置在原始点云的位姿中。最后，我们将碰撞物体添加到规划场景中。

请注意，这只是一个基本的实现函数，可能需要根据具体的应用场景进行修改。