Filter PCL2 Data [closed]

edit

Hey,

I know that this is probably one of the most easiest question ever asked.

How do I get the Type of the points published in sensor_msgs::pointcloud2?

The idea is to write my own filter and I suppose the code will look like that:

/* Code Skeleton for Ros-Node, with input as PCL::Pointcloud<T> */
for(point<T> point in input::Points)
{
 if(!(point::_z<2))
     { point::_z=0;
       point::_x=0;
       point::_y=0;
     }
}   
/* Publish processed data */

I know, that it is not the best idea to simply put the coordinates of the points to 0,0,0 :-)

edit:

According to the wiki it is velodyne_pointcloud::PointXYZIR which means I have to change

for(point<T> point in input::Points)

to

for(velodyne_pointcloud::PointXYZIR point in input::Points)

right?