Linux/IWR1642: How do I extract the coordinates to the point cloud through rviz？

Hi XiaoRui,

The RVIZ visualizer does not provide an option to extract the point cloud information directly. If you want to do this in code, your own application  will need to subscribe to the PointCloud2 topic and decode the messages to get the X,Y,Z and Intensity information. The format of the PointCloud2 structure used in the mmWave ROS driver is discussed in the following thread:

Linux/AWR1642BOOST: ROS package msg data format

And the following threads discuss where in the mmWave ROS driver code is the message constructed i.e. populated with the XYZI values:

IWR1443BOOST: Output intensity units

Compiler/IWR1443BOOST: Change the Intensity Information into Velocity in Rviz

If you just want to analyze the point cloud information for the detected objects, you can use the beta version of the mmWaveDemoVisualizer which allows you to save the point cloud in CSV format. This is discussed in the following thread:

RTOS/AWR1642BOOST: Obtain point cloud data from the sensor

Please mark this thread answered if this resolves your query otherwise get back if you have more questions.

Thanks

-Nitin