Hi,
Can I ask questions on ROS package,here?
I executed the program of ti_mmwave_rospkg.
>roslaunch ti_mmwave_rospkg rviz_1443_3d.launch
And I made bagfile by rosbag.
After,I selected point cloud topic to CSV.
>rostopic echo -b xxxx.bag.active -p /mmWaveDataHdl/Rscan > xxxxx.csv
Although data was outputted,
it is difficult to know the delimiter position between x, y, z and intencity inside each data.
In the example below,
1).Z data end may be (a).
What are field.data12 to field.data15 ?
2).Is it Big Endian?
I want to convert datas to float type.
exemple:xxxxx.csv(1 recordexemple.)
(cf:sensor_msg/PointCloud2.h and ti_mmwave_rospkg/src/DataHandlerClass.cpp)
%time 1.53E+18
field.header.seq 1726
field.header.stamp 0
field.header.frame_id base_radar_link
field.height 1
field.width 26
field.fields0.name x
field.fields0.offset 0......x offset
field.fields0.datatype 7......type float 32 bit
field.fields0.count 1
field.fields1.name y
field.fields1.offset 4......y offset
field.fields1.datatype 7.....type float 32 bit
field.fields1.count 1
field.fields2.name z
field.fields2.offset 8......z offset
field.fields2.datatype 7.....type float 32 bit
field.fields2.count 1
field.fields3.name intensity
field.fields3.offset 16......intensity offset
field.fields3.datatype 7.....float 32 bit
field.fields3.count 1
field.is_bigendian 0......Big Endian?
field.point_step 32......1 data length.
field.row_step 832...Last Field(May be field.width * field.point_step * field.height)
field.data0 0.......32 byte start. x data offset(0) start.
field.data1 128
field.data2 28
field.data3 63
field.data4 0.......y data offset(4) start.
field.data5 0
field.data6 102
field.data7 190
field.data8 0.......z data offset(8) start.
field.data9 0
field.data10 144
field.data11 189.....(a)
field.data12 0
field.data13 0
field.data14 128
field.data15 63
field.data16 158.......intencity data offset(16) start.
field.data17 167
field.data18 3
field.data19 66.......It may be last of intencity data.
field.data20 0
field.data21 0
field.data22 0
field.data23 0
field.data24 0
field.data25 0
field.data26 0
field.data27 0
field.data28 0
field.data29 0
field.data30 0
field.data31 0.......32 byte end
....
field.data830 0
field.data831 0
field.is_dense 1
Regards,
user5205609
