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shubhamwagh/rospc2_numpy.py

Created November 13, 2020 12:34
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ROS PointClou2 to numpy conversion (this will avoid bit flip)
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rospc2_numpy.py
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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shubhamwagh commented Nov 13, 2020

Reading it directly from the data buffer preserves colour data.

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