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support pointcloud access with custom specified fields 'x','y',... #9

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This PR allows direct access by pointcloud fields, e.g. on KITTI dataset

points_xyzi = rnp.point_cloud2.pointcloud2_to_array(cloud_msg, fields=['x', 'y', 'z', 'intensity'])

Tests are passing.

@juliangaal juliangaal changed the title support pointcloud access with specified fields 'x','y',... support pointcloud access with custom specified fields 'x','y',... May 15, 2023
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