Hi, I am working in a application to have the output of my AsusXTion depth sensor, I need to have the XYZ coordinates, to make a representation, but my restrictions are that I can't use the PCL conversion which is in ROS.

I am using a file to output the pointCloud and I have all the others features in my PointCloud2 message such as: height, width, is_bigendian, point_step, row_step, data, is_dense.

But when I am going to have the PointField I can't have because I am using a Java code (without Rosjava) to catch the "rostopic echo " out for the AsusCamera/depth/point topic and because PointField is not a native datatype for java I can't use this datatype to get the atributes for PointCloud. This way to get the output for my depth sensor is another restriction in my program (because restrictions at robot's stack )

My question is if this PointField is always constant or change according the readings for the sensor?. If it is a constant anybody has this outputs for my Asus Xtion depth sensor. Because I have the 16 fields for each pixel, but I don't know how to interpret, I have a litle idea that is a X Y Z, RGBA configuration, and each XYZ has 32 bits and I have to pick each 4 elements for the 16 fields, and the last are RGBA.

Thanks in advance for your answers