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Contains x, y and z points all floats as well as multiple channels; each channel has a string name and an array of float values. Point values can now be of any primitive data types int, float, double, etc , and the message can be specified as 'dense', with height and width values, giving the data a 2D structure, e.
This class has a similar structure to the PointCloud2 message type, including a header. Converting between the message class and the point cloud template class is straightforward see below , and most methods in the PCL library accept objects of both types. Still, it's better to work with this template class in your point cloud processing node, rather than with the message object, among other reasons because you can work with the individual points as objects rather than having to work with their raw data.
Determining the point type for a given point cloud message Each point cloud object type gives you information about the field names in a different way. To find out their names, look at the elements of the channels vector; each one has a name field. PCL has methods for extracting this information, see io. If it's a topic published by another node that you didn't write, you'll have to look at the source for that node. It has been suggested that it would be helpful if rostopic info could tell you what T is for a given PointCloud2 topic, but this hasn't been implemented yet.
Publishing and subscribing to point cloud messages Note: Use of the old PointCloud message type should be discontinued. Just for completeness, we'll summarize the subscription and publication operations for all three point cloud types below anyway. User Login.
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