ros中kinect相机sensor_msgs.msg PointCloud2类型点云 转 open3d 点云

ros中kinect相机sensor_msgs.msg PointCloud2类型点云 转 open3d 点云
python 语言
时间：2023.7.30
代码：

#!/usr/bin/env python3
# -*- coding: UTF-8 -*-

import rospy
from sensor_msgs.msg import PointCloud2
from sensor_msgs import point_cloud2
import open3d

class PointCloudSubscriber(object):
    def __init__(self) -> None:
        self.sub = rospy.Subscriber("/kinect_98/kinect2/hd/points",
                                     PointCloud2,
                                     self.callback, queue_size=5)
    def callback(self, msg):
        assert isinstance(msg, PointCloud2)

        points = point_cloud2.read_points(msg,field_names=("x","y","z"))
        #points = point_cloud2.read_points_list(
        #    msg, field_names=("x", "y", "z"))

        p = open3d.geometry.PointCloud()
        p.points = open3d.utility.Vector3dVector(points)
        print(p)
        
		#后续对点云进行各种操作，就用open3d的库函数即可


if __name__ =='__main__':
    rospy.init_node("pointcloud_subscriber")
    PointCloudSubscriber()
    rospy.spin()