Special case for rgb field

[peci1]

I've used a driver that produces pointclouds with a Float32 RGB channel:

sensor_msgs::PointCloud2Modifier modifier(msg);
modifier.setPointCloud2Fields(
  4,
  "x", 1, sensor_msgs::PointField::FLOAT32,
  "y", 1, sensor_msgs::PointField::FLOAT32,
  "z", 1, sensor_msgs::PointField::FLOAT32,
  "rgb", 1, sensor_msgs::PointField::FLOAT32
);
modifier.resize(msg.width * msg.height);
sensor_msgs::PointCloud2Iterator<float> iter_rgb(msg, "rgb");
uint32_t packed_rgb = (static_cast<uint32_t>(r) << 16) | (static_cast<uint32_t>(g) << 8)  | static_cast<uint32_t>(b);
float rgb_float;
std::memcpy(&rgb_float, &packed_rgb, sizeof(float));
*iter_rgb = rgb_float; ++iter_rgb;

According to RViz, this is one of the supported ways of packing colors.

This "RGB" float channel gets compressed down to mostly zeros by cloudini (I guess I understand why). Would it be possible to make an exception for channels named "rgb", "rgba", "bgr" and similar and don't touch them? This would definitely help in this particular case and I think that in general this is what people expect. You even say in readme that RGBA channels are not touched.

[peci1]

Thanks!