A python3 version for pypcd, and it also can load the binary version of PCD

[climbingdaily]

No description provided.

[SvenMuc]

I checked your changes. It seems not to work correctly. On Python 2.x it behaves as expected. But in case of writing binary PCD files from a PointCloud2 message on Python 3.8 it still produced corrupted pcd files.

It seems that the binary conversion of the numpy array behaves differently between Python 2 and 3. But I could not identify the root cause yet.

[SvenMuc]

I found a solution for that. By combining the following two pull request, the issue is solved.

• A python3 version for pypcd, and it also can load the binary version of PCD  #35 (Migration to Python 3)
• save function incompatible with numpy 1.16 #22 (fixing the numpy >1.15, The behavior of multi-field indexes changed from Numpy 1.15 to Numpy 1.16.)

I hope they will be merged some time. Nevertheless, I have a local version which works at least for my use cases.

Regards
Sven

[climbingdaily]

I found a solution for that. By combining the following two pull request, the issue is solved.

• A python3 version for pypcd, and it also can load the binary version of PCD  #35 (Migration to Python 3)
• save function incompatible with numpy 1.16 #22 (fixing the numpy >1.15, The behavior of multi-field indexes changed from Numpy 1.15 to Numpy 1.16.)

I hope they will be merged some time. Nevertheless, I have a local version which works at least for my use cases.

Regards Sven

Hi Sven, the code works correctly with numpy 1.20.3 environment on my computer. When using it, I just copy the pypcd.py and import it as pypcd.