I have a PointCloud2 topic and I need to access the x, y and z of the points.
I have found: pcl::PointCloud::ConstPtr
The problem is that I don't know how to use it.
Do you know where can I find some example code describing how to get coordinates in PCL2?
[EDIT]
Now, I am using this code but it is not working properly
void pcl2_to_scan::callback(const sensor_msgs::PointCloud2ConstPtr &pPCL2)
{
for (uint j=0; j < pPCL2->height * pPCL2->width; j++){
float x = pPCL2->data[j * pPCL2->point_step + pPCL2->fields[0].offset];
float y = pPCL2->data[j * pPCL2->point_step + pPCL2->fields[1].offset];
float z = pPCL2->data[j * pPCL2->point_step + pPCL2->fields[2].offset];
// Some other operations
}
}
Thank you.
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