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函数
时间: 2024-03-09 14:51:31 浏览: 16
以下是一个可能的Python函数实现,可以将点云话题通过Open3D进行三角化,然后将其转换为对应原来点云位姿的环境scene:
```python
import rospy
import open3d as o3d
from sensor_msgs.msg import PointCloud2
from tf.transformations import quaternion_matrix
def pointcloud_to_scene(msg):
# Convert PointCloud2 message to Open3D point cloud
point_cloud = o3d.geometry.PointCloud()
point_cloud.points = o3d.utility.Vector3dVector(msg.data)
point_cloud.colors = o3d.utility.Vector3dVector(msg.colors)
# Triangulate the point cloud
mesh, _ = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(point_cloud)
# Convert mesh to scene
scene = o3d.geometry.TriangleMeshScene(mesh)
# Transform the scene to the original point cloud pose
pose = msg.header.pose
translation = [pose.position.x, pose.position.y, pose.position.z]
orientation = [pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w]
transformation_matrix = quaternion_matrix(orientation)
transformation_matrix[:3, 3] = translation
scene.transform(transformation_matrix)
return scene
```
该函数接收一个PointCloud2消息作为输入,将其转换为Open3D点云,使用Poisson三角化算法将其转换为三角形网格,然后将其转换为Open3D场景。接下来,函数使用原始点云的姿势将场景转换回原始参考系。最后,函数返回转换后的场景对象。