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Improve documentation of PointCloud2 row_step, data, and point_step #106

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tfoote opened this issue Apr 8, 2020 · 1 comment
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Improve documentation of PointCloud2 row_step, data, and point_step #106

tfoote opened this issue Apr 8, 2020 · 1 comment
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tfoote commented Apr 8, 2020 •
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This is a follwup to the pre Foxy Message API review

If the point cloud is unordered, is row_step the length of data?

Comment: point_step seems to assumes a fields for a point are adjacent. What if the source data actually has each channel adjacent (all x values, then all y values, then all z values, then all intensities, etc)? Does the data need to be reordered to fit in this message?

What are the possible names of point field? I've seen x, y, z, xyz before, but I don't know of any documentation about those being standard.

https://github.com/ros2/common_interfaces/pull/86/files#diff-4fa5d39b533930879a61949f36d238cbR231
tfoote added a commit that referenced this issue May 15, 2020
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Comment on common PointField names
e05fcce 
Using values found in laser_geometry and depth_image_proc

For #106 

Signed-off-by: Tully Foote <[email protected]>
@tfoote tfoote mentioned this issue May 15, 2020
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tfoote commented May 15, 2020

If the point cloud is unordered, is row_step the length of data?

Yes

point_step seems to assumes a fields for a point are adjacent. What if the source data actually has each channel adjacent (all x values, then all y values, then all z values, then all intensities, etc)? Does the data need to be reordered to fit in this message?

Yes. Won't fix as the commenter came to the right conclusion.

Common field names documented in #112

@tfoote tfoote closed this as completed May 15, 2020
tfoote added a commit that referenced this issue May 19, 2020
@tfoote
Comment on common PointField names (#112)
c571b77 
Using values found in laser_geometry and depth_image_proc

For #106 

Signed-off-by: Tully Foote <[email protected]>
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