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PointCloud2 not organized

asked 2013-11-06 05:54:31 -0600

atp gravatar image

updated 2013-11-18 16:58:01 -0600

tfoote gravatar image

I'm reading PointCloud2 sensor messages from a robot in Gazebo. However, the point cloud given by the message is always unorganized (width=307200, height=1). In the urdf file, the size of the image is set to 640x480. Is there some way to guarantee organization?

At the moment, my code does the "reorganization" of the cloud manually (using a for loop).

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answered 2013-11-18 16:59:29 -0600

tfoote gravatar image

It may not be supported. It's recommended to ask gazebo questions on

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Manual reorganization of the point cloud seems to be working fine, and it is only a few lines of code.

atp gravatar image atp  ( 2013-11-19 03:26:57 -0600 )edit

@atp, I am facing the same problem. How did you convert the unorganized point cloud to organized point cloud? Does the cloud follow row-major order?

itzsid gravatar image itzsid  ( 2014-03-23 05:01:13 -0600 )edit

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Asked: 2013-11-06 05:54:31 -0600

Seen: 1,090 times

Last updated: Nov 18 '13