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sensor_msgs pointcloud2 color value ?

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Does sensor_msgs/PointCloud2 data type also contains the rgb value of the image? Currentely i'm using below code, and when i publish the converted pcl type, it also shows rgb values, how is that possible? void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input) { pcl::PointCloud output; pcl::fromROSMsg(*input,output); cout< ("input", 1, cloud_cb); marker_pub = nh.advertise ("visualization_marker",1); // Spin ros::spin (); } as i can see in the sensor_msgs/pointcloud2 documentations it shows below values: std_msgs/Header header uint32 height uint32 width sensor_msgs/PointField[] fields bool is_bigendian uint32 point_step uint32 row_step uint8[] data bool is_dense where data should be representing only the depth of the voxels. how is it returning rgb values when converted to pcl data type? i'm little confused, cas i didn't used this code for year.

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