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Meaning of the data passed by PointCloud2 message

asked 2018-06-21 13:22:29 -0600

dlandry3
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updated 2018-06-21 13:59:34 -0600

I know that the first 4 numbers in the data set correspond to the x coordinate, the next 4 to the y and so on, but I was wondering how the first 4 numbers are turned into a distance in meters. Also why does the row_step and width change with each message sent? Thanks

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Hello, how do you get a PointCloud2 message? Which sensor are you using?

dljubic ( 2018-06-21 23:22:43 -0600 )edit

We are using the sweep lidar sensor from scance.

dlandry3 ( 2018-06-22 00:08:28 -0600 )edit

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answered 2018-06-22 05:34:20 -0600

PratNag
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For a pointcloud2 msg http://docs.ros.org/api/sensor_msgs/h... the x,y,z values are stored in http://docs.ros.org/api/sensor_msgs/h... . You can refer to https://answers.ros.org/question/2404... Also there is field is_dense in the pointcloud2 msg. If that is true it skips the invalid points so that makes it change the width i guess.

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Asked: 2018-06-21 13:22:29 -0600

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Meaning of the data passed by PointCloud2 message