激光点云bag数据解析

1、只有点云数据的bag

先查看自己的bag的话题，ros库安装不必多说 

(RTG-SLAM) kj@kj-System-Product-Name:/media/kj/2B9747BF3C0EC4D0/Project/RTG-SLAM-Test$ rosbag info /media/kj/2B9747BF3C0EC4D0/SLAMData/indoor/hdl_501.bag
path:        /media/kj/2B9747BF3C0EC4D0/SLAMData/indoor/hdl_501.bag
version:     2.0
duration:    47.5s
start:       Aug 22 2017 12:41:36.26 (1503376896.26)
end:         Aug 22 2017 12:42:23.81 (1503376943.81)
size:        875.4 MB
messages:    476
compression: none [476/476 chunks]
types:       sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
topics:      /velodyne_points   476 msgs    : sensor_msgs/PointCloud2

python代码，用于解析bag保存pcd

import rosbag
import sensor_msgs.point_cloud2 as pc2
from sensor_msgs.msg import PointCloud2
import open3d as o3d
import numpy as np

def read_bag_pointcloud(bag_file, topic):
    bag = rosbag.Bag(ba