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Update point_cloud2.py to support type point xyzi #18

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Update point_cloud2.py to support type point xyzi #18

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21 changes: 21 additions & 0 deletions src/ros_numpy/point_cloud2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -238,5 +238,26 @@ def get_xyz_points(cloud_array, remove_nans=True, dtype=np.float):

return points

def get_xyzi_points(cloud_array, remove_nans=True, dtype=np.float):
'''Pulls out x, y, and z columns from the cloud recordarray, and returns
a 3xN matrix.
'''
# remove crap points
if remove_nans:
mask = np.isfinite(cloud_array['x']) & np.isfinite(cloud_array['y']) & np.isfinite(
cloud_array['z']) & np.isfinite(cloud_array['intensity'])
cloud_array = cloud_array[mask]

# pull out x, y, and z values
points = np.zeros(cloud_array.shape + (4,), dtype=dtype)
points[..., 0] = cloud_array['x']
points[..., 1] = cloud_array['y']
points[..., 2] = cloud_array['z']
points[..., 3] = cloud_array['intensity']
return points

def pointcloud2_to_xyz_array(cloud_msg, remove_nans=True):
return get_xyz_points(pointcloud2_to_array(cloud_msg), remove_nans=remove_nans)

def pointcloud2_to_xyzi_array(cloud_msg, remove_nans=True):
return get_xyzi_points(pointcloud2_to_array(cloud_msg), remove_nans=remove_nans)