How do I write point cloud data with coordinates stored as 32-bit integers as PointCloud2 messages?

asked 2021-05-04 15:53:39 -0500

multivac gravatar image

I am writing LiDAR data from CSV files that store x, y, z, and intensity each as numbers too large to be stored as single bytes. The definition of PointCloud2 ( tells us that the data should actually be stored as a 1-dimensional array of bytes. How do I indicate that four bytes describe a single coordinate?

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