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What do fields and data mean in message type sensor_msgs/pointcloud2

asked 2017-05-30 11:22:57 -0500

harish gravatar image

I want to publish my own values from my own source other than a Lidar in this message format. So if anyone knows what they mean please help me. Thank you.

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answered 2017-05-30 19:28:14 -0500

jayess gravatar image

updated 2017-05-31 01:34:51 -0500

Have you looked at the documentation?

Edit look at the documentation for PCL

Back to original answer

Raw Message Definition

# This message holds a collection of N-dimensional points, which may
# contain additional information such as normals, intensity, etc. The
# point data is stored as a binary blob, its layout described by the
# contents of the "fields" array.

# The point cloud data may be organized 2d (image-like) or 1d
# (unordered). Point clouds organized as 2d images may be produced by
# camera depth sensors such as stereo or time-of-flight.

# Time of sensor data acquisition, and the coordinate frame ID (for 3d
# points).
Header header

# 2D structure of the point cloud. If the cloud is unordered, height is
# 1 and width is the length of the point cloud.
uint32 height
uint32 width

# Describes the channels and their layout in the binary data blob.
PointField[] fields

bool    is_bigendian # Is this data bigendian?
uint32  point_step   # Length of a point in bytes
uint32  row_step     # Length of a row in bytes
uint8[] data         # Actual point data, size is (row_step*height)

bool is_dense        # True if there are no invalid points

Compact Message Definition

std_msgs/Header header
uint32 height
uint32 width
sensor_msgs/PointField[] fields
bool is_bigendian
uint32 point_step
uint32 row_step
uint8[] data
bool is_dense
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Hi, I know the message format but what I need to know is what are the values that go into these DATA and FIELDS parameters

harish gravatar image harish  ( 2017-05-30 22:21:45 -0500 )edit

This does tell you what data goes into the fields. First, the data type is specified then the name of the field. In the comments, it also states what exactly is supposed to go into the field such as height, width, etc.

jayess gravatar image jayess  ( 2017-05-30 23:56:08 -0500 )edit

If you need more information you should amend your question to say exactly what you're looking for.

jayess gravatar image jayess  ( 2017-05-30 23:56:11 -0500 )edit

I want to know what are the values that go into data like the distance of the particular object or something else.

harish gravatar image harish  ( 2017-05-31 01:19:27 -0500 )edit

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Asked: 2017-05-30 11:22:57 -0500

Seen: 1,596 times

Last updated: May 31 '17