pcl::PCLPointCloud2转msgpack/proto https://docs.ros.org/en/hydro/api/pcl/html/PCLPointCloud2_8h_source.html https://foxglove.dev/blog/visualizing-point-clouds-with-custom-colors https://robotics.stackexchange.com/questions/59520/converting-pointcloud2-to-pclpointcloud-is-slow-with-rgb-field