pointclouds.py 文件源码

def pointcloud2_to_array(cloud_msg):
    ''' 
    Converts a rospy PointCloud2 message to a numpy recordarray 

    Assumes all fields 32 bit floats, and there is no padding.
    '''
    dtype_list = [(f.name, np.float32) for f in cloud_msg.fields]
    cloud_arr = np.fromstring(cloud_msg.data, dtype_list)
    return np.reshape(cloud_arr, (cloud_msg.height, cloud_msg.width))