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PointClouds come in many forms, with different sets of fields and different data layouts.

The additional metadata in the sensor_msgs/PointCloud2 message describe how many rows and columns there are, which fields are present in each pixel, and what order they're in.

PointClouds come in many forms, with different sets of fields and different data layouts.

The additional metadata in the sensor_msgs/PointCloud2 message describe how many rows and columns there are, which fields are present in each pixel, and what order they're in.

EDIT

PCL has a visualization library. It should be possible to use it from .NET: http://stackoverflow.com/questions/18203173/net-and-pcl-point-cloud-library . It will take a little massaging to convert a ROS message into a PCL message, but the formats are basically the same.