Interpretation of PointCloud2 Datatype
Hey,
I'm working with PointCloud2 but actually I have some problems understanding the reprsentation. I'm aware of this link, and I understand the variables header, width, height, point_step, row_step, is_bigendian and is_dense. But I have some problems with PointField[] fields and uint8[] data.
The docu says that fields describes the channels and their layout. But what kind of channels?
And data holds the actual point data? So how can I get the x,y and z coordinates of all the points stored in the PointCloud?
Thanks in advance :)
First, tell me that which package are you using to publish the pointcloud2 message from your camera, then perhaps it can be extended from there.
Actually I have a Laserscanner and convert the sensor_msgs::LaserScan into sensor_msgs::PointCloud2, so I think that my PointCloud is unordered.
do you have an openni device like kinect or asus pro. then you can try working with point clouds in a better way. otherwise i beleive that you'll need to configure the laser_geometry package
No, I have no openni device. So there is no other way to get the x, y and z cooridnates?