The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
Yes the PointCloud2 message can represent color point clouds.
The sensor_msgs/PointCloud2 message type can represent an unlimited range of different point cloud types, simple XYZ points, XYZ intenstiy, XYZ color, XYZ with normals. There is no limit since each message uses the sensor_msgs/PointField[] fields declaraion to define the point data structure structure it uses.
The actual data of the point cloud is stored as a raw data buffer in the data element, this needs to be decoded by the receiver using the point structure defined. This is the why the message definition doesn't explicitly include the the XYZ, RGB or any other representation of point data.
Hope this clears this up.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
