# Doubt about Interpreting PointCloud2 data [closed]

**depth_registered/points**. I already know that is a PointCloud2 type, and it has associated a PointField in order to interpret the data. I am following more or less this algorithm to get the Z coordinate it is also the same thing to get X, Y and RGB just moving the offsets, which are provide from the pointField information.

Get the 9 , 10, 11 and 12 elements from the 32 elements matrix for each pixel

- Convert to binary each element (9,10,11,12)
- Concatenate the binary representations (for each elements).
Invert all the concatenated representation (because is not a big endian)

- Convert the inverted representation in float32 value.

Well I have some results for my research and I am worried because making this algorithm I have some result for the Z matrix and the has to much noise (I think) I attached this result to show you my results.

Original Image

Z Matriz