ros-sensor_msgs/PointCloud2 message content explanation

1. Field explanation
header-----header file, including the serial number of the message, timestamp (system time) and coordinate system id, where secs is seconds, nsecs is the number of nanoseconds remaining after removing seconds height
--- --The height of the point cloud, if it is an unordered point cloud, it is 1, the point cloud in the example is an ordered point cloud
width-----the width of each line of point cloud
fields-----of each point Member variable, where name is the name of the corresponding member variable, offset is the offset byte number of the starting point of the memory of the variable relative to the starting point of the memory at this point, for example, the starting point of the memory address of the variable x is consistent with the starting point of the memory address of this point , so the offset is 0, because the memory for storing x occupies 4 bytes, so the starting point of the memory address of the variable y needs to be offset by at least 4 bytes relative to the starting point of the memory address at this point, which is stored continuously, so the offset is 4. The latter intensity is not continuous with the memory of the previous z. The datatype is the data type of the variable. The specific correspondence is as follows. For example, the datatype of x
in the example is 7, which means its data type is FLOAT32, and the datatype of timestamp is 8 , indicating that its data type is FLOAT64
is_bigendian-----data endian storage mode
point_step-----the number of bytes occupied by each point, generally point_step is the offset of the last variable of the point and the variable occupied The sum of the number of bytes, here is 32=24+8
row_step-----the number of bytes occupied by each row
data-----is the serialized data, directly obtain is_dense, serialization is for the convenience of information transmission And exchange, deserialization is required when using, the total byte size is row_step x height
is_dense-----whether there are illegal data points, true means there is no
reference:
https://blog.csdn.net/weixin_40826634/article/details/108767704