pointcloud2 0.1.1

PointCloud2 lib for non ROS environments

PointCloud2

PointCloud2 lib for non ROS environment.

Usage

from pointcloud2 import read_points

from mcap.reader import make_reader
from mcap_ros2.decoder import DecoderFactory

reader = make_reader("file.mcap", decoder_factories=[DecoderFactory()])

for msg in tqdm(reader.iter_decoded_messages(
    topics=["/cloud"],
)):
    cloud = read_points(msg.decoded_message)
    # do something with cloud
    print(cloud['x'])