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Help with PointCloud2 Data

Hello,

I am using a Raspberry Pi with Lubuntu 16.04, ROS Kinetic, a tim 561 and a package called sick_scan to get data from the LIDAR. I can use sick_scan to publish PointCloud2 data to the topic /cloud and I can visualize data with rviz. The end goal for my LIDAR is to be able to get distance data from it. So I want it to tell me what the distance to the things around it is. I am having some issues with this though as I am not really sure where to start. Would I be able to extract distance data from directly from the PointCloud2 data and if so how, or would there be some intermediary steps?

I have successfully followed this tutorial to convert PointCloud2 to PointCloud<t> but I'm not really sure if this is the right direction to go in. I'm also not really sure what the difference between the PointCloud2 and PointCloud<t> is. I noticed though that the data looks very different, is this by design or my mistake? (I will post a comparison below).

I also found this tutorial that changes a PointCloud to a rangeImage, would this be helpful?

I would also like to add that I am beginner and PointCloud2 is by far the most complex data type I have worked with. I am used to the simpler data types, so any help would be truly appreciated as I am sure that I am missing some key understanding about this data type.

Thanks!

/output data after converting to PointCloud<t>:

header: 
  seq: 895
  stamp: 
    secs: 1553455523
    nsecs: 598997000
  frame_id: "cloud"
values: [-0.0, -0.0, 1.0, -0.0]
---
header: 
  seq: 896
  stamp: 
    secs: 1553455523
    nsecs: 665580000
  frame_id: "cloud"
values: [-0.0, -0.0, 1.0, -0.0]

/cloud data of type PointCloud2: header: seq: 296 stamp: secs: 1553456947 nsecs: 421859979 frame_id: "cloud" height: 1 width: 811 fields: - name: "x" offset: 0 datatype: 7 count: 1 - name: "y" offset: 4 datatype: 7 count: 1 - name: "z" offset: 8 datatype: 7 count: 1 - name: "intensity" offset: 12 datatype: 7 count: 1 is_bigendian: False point_step: 16 row_step: 12976 data: [108, 171, 8, 191, 107, 171, 8, 191, 0, 0, 0, 0, 0, 0, 113, 70, 167, 197, 8, 191, 103, 95, 10, 191, 0, 0, 0, 0, 0, 240, 115, 70, 99, 101, 9, 191, 127, 161, 12, 191, 0, 0, 0, 0, 0, 200, 106, 70, 99, 50, 5, 191, 202, 237, 9, 191, 0, 0, 0, 0, 0, 76, 82, 70, 200, 22, 235, 190, 200, 74, 246, 190, 0, 0, 0, 0, 0, 132, 52, 70, 186, 111, 255, 190, 99, 95, 7, 191, 0, 0, 0, 0, 0, 24, 60, 70, 227, 1, 8, 191, 89, 217, 17, 191, 0, 0, 0, 0, 0, 64, 93, 70, 216, 183, 8, 191, 245, 84, 20, 191, 0, 0, 0, 0, 0, 236, 112, 70, 195, 94, 8, 191, 64, 177, 21, 191, 0, 0, 0, 0, 0, 80, 113, 70, 123, 141, 9, 191, 29, 196, 24, 191, 0, 0, 0, 0, 0, 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221, 134, 58, 62, 0, 0, 0, 0, 0, 224, 127, 69, 180, 16, 63, 190, 95, 63, 63, 62, 0, 0, 0, 0, 0, 80, 137, 69] is_dense: True

Help with PointCloud2 Data

Hello,

I am using a Raspberry Pi with Lubuntu 16.04, ROS Kinetic, a tim 561 and a package called sick_scan to get data from the LIDAR. I can use sick_scan to publish PointCloud2 data to the topic /cloud and I can visualize data with rviz. The end goal for my LIDAR is to be able to get distance data from it. So I want it to tell me what the distance to the things around it is. I am having some issues with this though as I am not really sure where to start. Would I be able to extract distance data from directly from the PointCloud2 data and if so how, or would there be some intermediary steps?

I have successfully followed this tutorial to convert PointCloud2 to PointCloud<t> but I'm not really sure if this is the right direction to go in. I'm also not really sure what the difference between the PointCloud2 and PointCloud<t> is. I noticed though that the data looks very different, is this by design or my mistake? (I will post a comparison below).

I also found this tutorial that changes a PointCloud to a rangeImage, would this be helpful?

I would also like to add that I am beginner and PointCloud2 is by far the most complex data type I have worked with. I am used to the simpler data types, so any help would be truly appreciated as I am sure that I am missing some key understanding about this data type.

Thanks!

/output data after converting to PointCloud<t>:

header: 
  seq: 895
  stamp: 
    secs: 1553455523
    nsecs: 598997000
  frame_id: "cloud"
values: [-0.0, -0.0, 1.0, -0.0]
---
header: 
  seq: 896
  stamp: 
    secs: 1553455523
    nsecs: 665580000
  frame_id: "cloud"
values: [-0.0, -0.0, 1.0, -0.0]

/cloud data of type PointCloud2: PointCloud2:

header: 
  seq: 296
  stamp: 
    secs: 1553456947
    nsecs: 421859979
  frame_id: "cloud"
height: 1
width: 811
fields: 
  - 
    name: "x"
    offset: 0
    datatype: 7
    count: 1
  - 
    name: "y"
    offset: 4
    datatype: 7
    count: 1
  - 
    name: "z"
    offset: 8
    datatype: 7
    count: 1
  - 
    name: "intensity"
    offset: 12
    datatype: 7
    count: 1
is_bigendian: False
point_step: 16
row_step: 12976
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is_dense: True

True