Martzi

#include <ros/ros.h>

#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>

#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/PointCloud2.h>

Martzi

def point_cloud_msg(points, parent_frame='base_link'):

    ros_dtype = sensor_msgs.PointField.FLOAT32 # csak ezt eszi meg az rviz
    dtype = np.float32
    itemsize = np.dtype(dtype).itemsize

    data = points.astype(dtype).tobytes()

    fields = [sensor_msgs.PointField(
        name=n, offset=i*itemsize, datatype=ros_dtype, count=1)