Created
November 13, 2020 12:34
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ROS PointClou2 to numpy conversion (this will avoid bit flip)
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| colours = np.array([ | |
| bytearray(msg.data[rgb_field.offset + 2::msg.point_step]), | |
| bytearray(msg.data[rgb_field.offset + 1::msg.point_step]), | |
| bytearray(msg.data[rgb_field.offset + 0::msg.point_step]) | |
| ]).transpose().astype(np.float32)/255.0 |
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Reading it directly from the data buffer preserves colour data.