What's the meaning of sensor_msgs/PointCloud2
Recently, I'm using VLP-16 to get point cloud data. But I am really confused about the structure of sensor_msgs/PointCloud2. I used the commend $ rostopic echo /velodyne_points to check the data. I have known that 32 numbers are used to describe a point. But how to transform these numbers to x, y, z coordinate of the points ? Thanks.
For example: 164, 129, 148, 191, 79, 29, 4, 191, 114, 146, 181, 188, 1, 0, 0, 0, 0, 0, 128, 63, 7, 0, 0, 0, 70, 88, 8, 112, 61, 127, 0, 0, 163, 248, 106, 191, 20, 9, 209, 190, 228, 208, 137, 62, 1, 0, 0, 0, 0, 0, 0, 64, 15, 0, 0, 0, 70, 88, 8, 112, 61, 127, 0, 0, 226, 211, 151, 191, 178, 208, 6, 191, 65, 147, 185, 60, 1, 0, 0, 0, 0, 0, 176, 66, 8, 0, 0, 0, 70, 88, 8, 112, 61, 127, 0, 0,
I am facing the same problem, could you tell me how that structure works? Thanks!