解析sensor_msgs::PointCloud2 ROS点云数据

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我是靠谱客的博主平淡金鱼，这篇文章主要介绍解析sensor_msgs::PointCloud2 ROS点云数据，现在分享给大家，希望可以做个参考。

1.一个仿真的点云数据

header:
seq: 2116
stamp:
secs: 1586919439
nsecs: 448866652
frame_id: "LidarSensor1"
height: 1
width: 3
fields:
-
name: "x"
offset: 0
datatype: 7
count: 1
-
name: "y"
offset: 4
datatype: 7
count: 1
-
name: "z"
offset: 8
datatype: 7
count: 1
is_bigendian: False
point_step: 12
row_step: 36
data: [143, 194, 117, 53, 10, 215, 163, 53, 222, 238, 165, 64, 143, 194, 117, 53, 10, 215, 163, 53, 222, 238, 165, 64, 143, 194, 117, 53, 10, 215, 163, 53, 222, 238, 165, 64]
is_dense: True

PointCloud2的data是序列化后的数据，直接看不到物理意义。