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I'm using the pcl and need to pass over some normals with a point cloud (ie pcl::PointXYZRGBNormal points) to a service. Therefore I would like to know if the PointCloud2 can hold all this information (I now it is quite flexible). More generally and because I think I might not be the only beginner wondering about: What can PointCloud2 store ?
Well I finally found myself, I had not see this http://www.ros.org/doc/api/sensor_msgs/html/msg/PointCloud2.html
This message holds a collection of N-dimensional points, which may contain additional information such as normals, intensity, etc. The point data is stored as a binary blob, its layout described by the contents of the "fields" array.
The point cloud data may be organized 2d (image-like) or 1d (unordered). Point clouds organized as 2d images may be produced by camera depth sensors such as stereo or time-of-flight.
Note that you can publish/subscribe to pcl::PointCloud types directly using pcl_ros; no need to write your own conversion to/from PointCloud2. PointCloud2 and pcl::PointCloud were designed in tandem, so in general PointCloud2 can hold any data expressible as a pcl::PointCloud and vice versa.
Asked: 2011-03-16 22:49:16 -0600
Seen: 1,509 times
Last updated: Apr 01 '11
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