How to convert ros PointCloud2 to a pcl Pointcloud2 using only pcl 1.8? Find centralized, trusted content and collaborate around the technologies you use most. The input PointCloud2 object contains a PreserveStructureOnRead property that is either true or false (default) . Robotics Stack Exchange is a question and answer site for professional robotic engineers, hobbyists, researchers and students. Thanks for contributing an answer to Robotics Stack Exchange! Do non-Segwit nodes reject Segwit transactions with invalid signature? and this returns x,y,z as a 3D numpy array. Making statements based on opinion; back them up with references or personal experience. Are defenders behind an arrow slit attackable? Irreducible representations of a product of two groups. I'm actually not sure of this one. If its python we have a whole bunch of libraries written for the conversion. Why does my stock Samsung Galaxy phone/tablet lack some features compared to other Samsung Galaxy models? Referenced by pcl::detail::copyStringValue(), pcl::detail::copyStringValue< std::int8_t >(), pcl::detail::copyStringValue< std::uint8_t >(), pcl::copyValueString(), pcl::copyValueString< std::int8_t >(), pcl::copyValueString< std::uint8_t >(), pcl::fromPCLPointCloud2(), pcl::isValueFinite(), pcl::TextureMapping< PointInT >::mapTexture2Mesh(), pcl::TextureMapping< PointInT >::mapTexture2MeshUV(), pcl::SurfaceReconstruction< PointInT >::reconstruct(), pcl::MeshConstruction< PointInT >::reconstruct(), pcl::OrganizedFastMesh< PointInT >::resetPointData(), and pcl::toPCLPointCloud2(). No, the first 4 entries represent the x value, so 235, 171, 190, 53 equals: Correlating RGB Image with Depth Point Cloud? PCL has about four different ways of representing point cloud data, so it can get a bit confusing, but we'll try to keep it simple for you. Why do some airports shuffle connecting passengers through security again. 2. Tabularray table when is wraped by a tcolorbox spreads inside right margin overrides page borders. # Time of sensor data acquisition, and the coordinate frame ID (for 3d# points). """ # construct a numpy record type equivalent to the point type of this cloud dtype_list = pointcloud2_to_dtype(cloud_msg) # parse the cloud into an array cloud_arr = np.fromstring(cloud_msg.data, dtype_list) # Point cloud data can be organized in either 1-D lists or in 2-D image styles. An array refers to a collection that contains data of the same type that are stored within memory locations that are contiguous. It works by hooking into the roscpp serialization infrastructure. point_step is the length of a point in bytes says the PointCloud2 document. Why was USB 1.0 incredibly slow even for its time? Is it possible to hide or delete the new Toolbar in 13.1? Header header # 2D structure of the point cloud. Dual EU/US Citizen entered EU on US Passport. It is called an unordered or unorganized point cloud data. By clicking Accept all cookies, you agree Stack Exchange can store cookies on your device and disclose information in accordance with our Cookie Policy. Looking at the definition of PointCloud2, you see that the field that holds the "actual" point cloud data is a 1-dimensional array. [closed], is there any function to convert sensor_msg::pointcloud2 to velodyne_pointcloud::PointXYZIR? Point clouds organized as 2d images may be produced by# camera depth sensors such as stereo or time-of-flight. I have made some progress on understanding how the metadata of a PointCloud2 is stored, however, it is being very difficult to understand the storage of the data part of the PointCloud2 data type. After taking a look at the .pcd file I understand that the x,y,z,intensity fields are 4 bytes representation of a floating point number (little endian in your message). Inplace concatenate two pcl::PCLPointCloud2. Since the recorded file was really large it gave me a lot of trouble even when only trying to take a look at it(initially I had it converted to .csv and used -010 Editor- to read but csv format turned out useless for me). Header header# 2D structure of the point cloud. What is the definition of the contents of PointCloud2? FreeCAD, Blender) as well? Is energy "equal" to the curvature of spacetime? Why do some airports shuffle connecting passengers through security again. Does illicit payments qualify as transaction costs? Here is the structure of Point cloud data, Hopng its not too late !! To subscribe to this RSS feed, copy and paste this URL into your RSS reader. for this specific case we can use Definition at line 64 of file PCLPointCloud2.h. The datatype tells whether the fields are float, uint16, int8 etc. This means that you can internally use PCL all you want, and it's all a ROS PointCloud2 message. How many transistors at minimum do you need to build a general-purpose computer? PCL: Accessing fields of pcl::ModelCoefficients::Ptr for line model approximation using RANSAC. So you have 4 byte long 1 x, 4 byte long 1 y, 4 byte long 1 z, 4 byte long 1 intensity and 2 byte long 1 ring fields. Why does the distance from light to subject affect exposure (inverse square law) while from subject to lens does not? Is energy "equal" to the curvature of spacetime? It is as follows: 4 bytes (x) + 4 (y) + 4 (z) + 4 (empty) + 4 (intensity) + 2 (ring) + 10 (empty) = 32, row_step is the length of a row in bytes, which is 66811 points (width) * 32 bytes = 2137952. Open3D provides the method compute_point_cloud_distance to compute the distance from a source point cloud to a target point cloud. Do bracers of armor stack with magic armor enhancements and special abilities? You can configure the segmentation of data to several groups in the config file. For example, you may publish a pcl::PointCloud in one of your nodes and visualize it in rviz using a Point Cloud2 display. Using structures typically improves performance of creating, updating, and using ROS . These appear to ROS as sensor_msgs/PointCloud2 messages, offering seamless interoperability with non-PCL-using ROS nodes. If you're interested, most of the information you showed from the message is actually meta information that describes the format of the point cloud in the message. How can I use a VPN to access a Russian website that is banned in the EU? Does aliquot matter for final concentration? I want to extract point coordinate as (x,y,z) from it. For example, you may publish a pcl::PointCloud in one of your nodes and visualize it in rviz using a Point Cloud2 display. The Field Offset is the number of bytes from the start of the point to the byte, in which this field begins to be stored. This array not only contains XYZ data, but it also contains other data, like, as the documentation for the message says, normals, intensity, etc.. Concentration bounds for martingales with adaptive Gaussian steps. Well, this is why we have PointCloud2: so we can have a single array in memory contain all the info we need, regardless of data associated with the point. By clicking Post Your Answer, you agree to our terms of service, privacy policy and cookie policy. Not sure if it was just me or something she sent to the whole team. Velodyne UDP packets, ROS messages, and PCD files: Where does the time go? Sensor data transport using ROS and zmq. The ring value is a uint16(unsigned short). The documentation on the PCL website should then tell you everything you need to know to work with the received point cloud object. Definition at line 109 of file PCLPointCloud2.h. Are defenders behind an arrow slit attackable? Received a 'behavior reminder' from manager. How many transistors at minimum do you need to build a general-purpose computer? # The point cloud data may be organized 2d (image-like) or 1d # (unordered). Site design / logo 2022 Stack Exchange Inc; user contributions licensed under CC BY-SA. How to make voltage plus/minus signs bolder? rev2022.12.11.43106. Making statements based on opinion; back them up with references or personal experience. Better way to check if an element only exists in one array. is Y or is a range (for which one of the beams)? So instead of using the sensor_msgs/PointCloud2 type everywhere, use the pcl::Pointcloud
type everywhere. What are the numbers to the left when logging with ROS_INFO_STREAM? Referenced by pcl::detail::copyStringValue(), pcl::detail::copyStringValue< std::int8_t >(), pcl::detail::copyStringValue< std::uint8_t >(), pcl::copyValueString(), pcl::copyValueString< std::int8_t >(), pcl::copyValueString< std::uint8_t >(), pcl::fromPCLPointCloud2(), pcl::getFieldIndex(), pcl::getFieldsList(), pcl::isValueFinite(), pcl::TextureMapping< PointInT >::mapTexture2Mesh(), pcl::TextureMapping< PointInT >::mapTexture2MeshUV(), pcl::OrganizedFastMesh< PointInT >::resetPointData(), and pcl::toPCLPointCloud2(). If you literally want to write out the contents of the message to a file, you can just (in launch file or commandline) use ros topic echo [args] > my_file.txt. In the United States, must state courts follow rulings by federal courts of appeals? The number of groups and their composition might be chosen on behalf of the task and related to the data consumer. Site design / logo 2022 Stack Exchange Inc; user contributions licensed under CC BY-SA. The recorded message is PointCloud2 type. Thanks for contributing an answer to Stack Overflow! At what point in the prequels is it revealed that Palpatine is Darth Sidious? To learn more, see our tips on writing great answers. 11101011 10101011 10111110 00110101 and this represents a float32 value. Creative Commons Attribution Share Alike 3.0. Definition at line 21 of file PCLPointCloud2.h. Definition at line 26 of file PCLPointCloud2.h. point-cloud ros vrep lidar v-rep pointcloud2 vrep-plugin-velodyne Updated May 20, 2021; C++; leo-drive / leogate Star 3. . It is as follows: 4 bytes (x) + 4 (y) + 4 (z) + 4 (empty) + 4 (intensity) + 2 (ring) + 10 (empty) = 32 row_step is the length of a row in bytes, which is 66811 points (width) * 32 bytes = 2137952 Share Improve this answer Follow answered Apr 3, 2020 at 8:52 beluga 41 2 Definition at line 35 of file PCLPointCloud2.h. To learn more, see our tips on writing great answers. Browse other questions tagged, Start here for a quick overview of the site, Detailed answers to any questions you might have, Discuss the workings and policies of this site, Learn more about Stack Overflow the company. So every point has the first 4 bytes for x, then with an offset of 4 start the bytes for y etc. Referenced by pcl::detail::copyStringValue(), pcl::detail::copyStringValue< std::int8_t >(), pcl::detail::copyStringValue< std::uint8_t >(), pcl::fromPCLPointCloud2(), pcl::OrganizedFastMesh< PointInT >::resetPointData(), and pcl::toPCLPointCloud2(). Connect and share knowledge within a single location that is structured and easy to search. Asking for help, clarification, or responding to other answers. Use MathJax to format equations. rev2022.12.11.43106. Describe what an array is and how to access it. The PointCloud2 object is an implementation of the sensor_msgs/PointCloud2 message type in ROS. The types are: sensor_msgs:: PointCloud ROS message (deprecated) sensor_msgs:: PointCloud2 ROS message pcl::PCLPointCloud2 PCL data structure mostly for compatibility with ROS (I think) The Field Offset is the number of bytes from the start of the point to the byte, in which this field begins to be stored. To subscribe to this RSS feed, copy and paste this URL into your RSS reader. Definition at line 27 of file PCLPointCloud2.h. In the following example, we downsample a PointCloud2 structure using a 3D grid, thus reducing the number of points in the input dataset considerably. Does SolidWorks CAD-to-URDF (ROS robot definition XML) exporter works from open source alternatives (e.g. By clicking Accept all cookies, you agree Stack Exchange can store cookies on your device and disclose information in accordance with our Cookie Policy. It tells that there are empty bytes after z and ring fields. Offset tells at which byte the related field starts. Stack Exchange network consists of 181 Q&A communities including Stack Overflow, the largest, most trusted online community for developers to learn, share their knowledge, and build their careers. I suggest you read the overview on pcl on the ROS website as well as on this link. If you just need to work with the point data then you can create a subscriber function which will receive a pcl::PointCloud object directly as described in this tutorial. I am reading in a point cloud into a PointCloud2 Structure and want to be able to write out the points in series of the point cloud or at the very least access them so I find a way to write them to a file later. PSE Advent Calendar 2022 (Day 11): The other side of Christmas, Examples of frauds discovered because someone tried to mimic a random sequence. There is a config file structure example: I want to get the ring number, is there a python equivalent of fromROSMsg/toROSMsg (pcl stack), Ros Groovy Installation: Can't find vtk-file. When would I give a checkpoint to my D&D party that they can return to if they die? Making statements based on opinion; back them up with references or personal experience. Would like to stay longer than 90 days. The Data array is then the byte buffer values of the raw point cloud data, it is possible to reconstruct the cloud from this data but there are much easier ways of doing it. How can I use a VPN to access a Russian website that is banned in the EU? Pages generated on Sun Dec 11 2022 02:57:56, pcl::detail::copyStringValue< std::int8_t >(), pcl::detail::copyStringValue< std::uint8_t >(), pcl::TextureMapping< PointInT >::mapTexture2Mesh(), pcl::TextureMapping< PointInT >::mapTexture2MeshUV(), pcl::SurfaceReconstruction< PointInT >::reconstruct(), pcl::MeshConstruction< PointInT >::reconstruct(), pcl::OrganizedFastMesh< PointInT >::resetPointData(), pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getDataSize(), pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::OutofcoreOctreeDiskContainer(), static bool pcl::PCLPointCloud2::concatenate, the first input and output point cloud dataset, std::vector pcl::PCLPointCloud2::data, std::uint8_t pcl::PCLPointCloud2::is_bigendian = BOOST_ENDIAN_BIG_BYTE, std::uint8_t pcl::PCLPointCloud2::is_dense = 0, the total number of non-skip fields is different, the non-skip field names are named differently (excluding "rbg{a}") in serial order, the endian-ness of both clouds is different. The total length of one point in bytes is stored as "point_step", answering your fourth question. Can we keep alcoholic beverages indefinitely? What does the contents of PointCloud2 means in ROS? I am currently building a perception pipeline and am having trouble reading the points of my point cloud structure. What is the concepts of submaps in LIDAR based graph slam algorithms? Asking for help, clarification, or responding to other answers. Was the ZX Spectrum used for number crunching? Help us identify new roles for community members, Proposing a Community-Specific Closure Reason for non-English content. So you need 4 data entries to represent the x value of one point. Asking for help, clarification, or responding to other answers. Take a look at this link for that: https://answers.ros.org/question/235063/bag-file-to-pcd-files/. ros_numpy.point_cloud2.pointcloud2_to_xyz_array(your_array) Does balls to the wall mean full speed ahead or full speed ahead and nosedive? Any help on what exact functions to use / steps I need to take would be much appreciated. Definition at line 36 of file PCLPointCloud2.h. Referenced by pcl::PolygonMesh::concatenate(), pcl::fromPCLPointCloud2(), pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getDataSize(), pcl::TextureMapping< PointInT >::mapTexture2Mesh(), pcl::TextureMapping< PointInT >::mapTexture2MeshUV(), pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::OutofcoreOctreeDiskContainer(), pcl::SurfaceReconstruction< PointInT >::reconstruct(), pcl::MeshConstruction< PointInT >::reconstruct(), and pcl::toPCLPointCloud2(). Referenced by pcl::fromPCLPointCloud2(), and pcl::toPCLPointCloud2(). Probably your scanner publishes line after line? Should I exit and re-enter EU with my EU passport or is it ok? Finally, for example, what is 171 value in data? Why do we use perturbative series if they don't converge? To learn more, see our tips on writing great answers. point_step is the length of a point in bytes says the PointCloud2 document. especially for large point clouds, this will be faster. Not the answer you're looking for? I recorded a rosbag for "velodyne_points" topic using a Velodyne VLP-16. I totally agree that the documentation is poor and it took me quite some time to understand what is going on. The count is how many of that datatype is there. Ready to optimize your JavaScript with Rust? More examples (or links to node source code) in http://wiki.ros.org/pcl_ros, tutorials on other pipeline stuff in http://wiki.ros.org/pcl_ros/Tutorials. It works by hooking into the roscpp serialization infrastructure. Looking forward to some help! I have tried using pcl::io::savePCDFileASCII() but I don't think that is quite applicable here. That is the reason the height is 1. Then I took a look at one of the .pcd files and used the info in the following link to understand what is in it: http://pointclouds.org/documentation/tutorials/pcd_file_format.php#pcd-file-format. Find centralized, trusted content and collaborate around the technologies you use most. Ready to optimize your JavaScript with Rust? Referenced by pcl::detail::copyStringValue(), pcl::fromPCLPointCloud2(), and pcl::toPCLPointCloud2(). Then, each group is sent to its own PointCloud2 topic for the costmap layer . Maybe I'm a bit late, but for anybody having the same Problem: For question 1.-3. see this. Why are there empty bytes befor intensity and after ring? Do bracers of armor stack with magic armor enhancements and special abilities? So the incoming data in that array you asked about is a 1-D array. To add this capability to the code skeleton above, perform the following steps: For example offset x is 0 so x is 235 171 54 190 in little endian. How to convert PointCloud2 message to a grid? Simply add the following include to your ROS node source code: What is the state-of-the-art approach to detect moving objects from mobile robot with 2D Lidar only? Can virent/viret mean "green" in an adjectival sense? CGAC2022 Day 10: Help Santa sort presents! For comparison of field names, "rgb" and "rgba" are considered equivalent However, if the order and/or number of non-skip fields is different, the skip fields are dropped and non-skip fields copied selectively. Arrays are the simplest type of data structure and provide fast read/access times because elements are stored together. Why is the federal judiciary of the United States divided into circuits? i2c_arm bus initialization and device-tree overlay. Should teachers encourage good students to help weaker ones? How to convert ros PointCloud2 to a pcl Pointcloud2 using only pcl 1.8? MathJax reference. I expected it to be 64. # Time of sensor data acquisition, and the coordinate frame ID (for 3d points). Now, you might think, wait: why aren't there 3 dimensions, one for X, Y, and Z? Mathematica cannot find square roots of some matrices? Writing / Accessing points in a PointCloud2 structure C++ / ROS / PCL Library. Browse other questions tagged, Where developers & technologists share private knowledge with coworkers, Reach developers & technologists worldwide. Definition at line 30 of file PCLPointCloud2.h. Why is the eastern United States green if the wind moves from west to east? What does the contents of PointCloud2 means in ROS? The 171 has no direct information about the x, y or z value of the point. Please start posting anonymously - your entry will be published after you log in or create a new account. The ring field tells which one of the 16 lasers in VLP-16 is used (though it is different than the laser numbers in the hardware manual), for your case it should be between 0-63. This function returns an error if. Creation Syntax pointcloud2 stream visualization in open3d or other possibility to visualize pointcloud2 in python, Remapping rostopic from the existing ReadOnly launch file. Definition at line 20 of file PCLPointCloud2.h. Here is a published PointCloud2 message by Velodyne LiDAR: Why height in Velodyne-HDL64e LiDAR is equal to one? Would salt mines, lakes or flats be reasonably found in high, snowy elevations? Connect and share knowledge within a single location that is structured and easy to search. Something can be done or not a fit? Counterexamples to differentiation under integral sign, revisited. is Y or is a range (for which one of the beams)? # The point cloud data may be organized 2d (image-like) or 1d# (unordered). I expected it to be 64. Definition at line 16 of file PCLPointCloud2.h. But you have to declare the PCL type / interface you want to use in the message / publisher / subscriber that you access the data with. This header allows you to publish and subscribe pcl::PointCloud objects as ROS messages. Help us identify new roles for community members. Definition at line 18 of file PCLPointCloud2.h. In the example below we use the function to compute the difference between two point clouds. What worked was that when I converted this bag file to .pcd format. Finally, for example, what is 171 value in data? By clicking Post Your Answer, you agree to our terms of service, privacy policy and cookie policy. Central limit theorem replacing radical n with n. Is the EU Border Guard Agency able to tell Russian passports issued in Ukraine or Georgia from the legitimate ones? By clicking Accept all cookies, you agree Stack Exchange can store cookies on your device and disclose information in accordance with our Cookie Policy. The rubber protection cover does not pass through the hole in the rim. Irreducible representations of a product of two groups, Received a 'behavior reminder' from manager. The sensor_msgs/PointCloud2 format was designed as a ROS message, and is the preferred choice for ROS applications. or "field" is stored as multiple uint8 bytes. We do not currently allow content pasted from ChatGPT on Stack Overflow; read our policy here. The best answers are voted up and rise to the top, Not the answer you're looking for? Definition at line 84 of file PCLPointCloud2.h. How to get a specific cluster after region growing using pcl library? An additional note is the base program is constantly running and never exits until manually closed I don't know if that will be relavent to writing out to a file. To access the actual data, use readXYZ to get the point coordinates and readRGB to get the color information, if available. Site design / logo 2022 Stack Exchange Inc; user contributions licensed under CC BY-SA. Definition at line 95 of file PCLPointCloud2.h. By clicking Post Your Answer, you agree to our terms of service, privacy policy and cookie policy. the reason for using np.fromstring rather than struct.unpack is speed. What is this fallacy: Perfection is impossible, therefore imperfection should be overlooked. The PointField message simply tells ROS how the data is formatted (kind of like how you might add a message header to the data being sent through a socket, but that is outside the scope of the question). I used rostopic echo and received a bunch of PointCloud2 Msg, but I have a hard time understand it especially for the "data" array. After z field there are 4 empty bytes (that is why intensity has an offset of 16, not 12), and after ring there are 10 empty bytes. Except where otherwise noted, the PointClouds.org web pages are licensed under Creative Commons Attribution 3.0. Here is a published PointCloud2 message by Velodyne LiDAR: Why height in Velodyne-HDL64e LiDAR is equal to one? rev2022.12.11.43106. Parameters [in] rhs the cloud to add to the current cloud Returns the new cloud as a concatenation of the current cloud and the new given cloud Member Data Documentation data std::vector<std::uint8_t> pcl::PCLPointCloud2::data Definition at line 30 of file PCLPointCloud2.h. Ready to optimize your JavaScript with Rust? You can select the message parameters of a topic active on a live ROS 2 network, or specify the message parameters separately. There are many possible point types for point clouds, including custom ones so the message format has to be flexible. I.e., it computes for each point in the source point cloud the distance to the closest point in the target point cloud. The Read Point Cloud block extracts a point cloud from a ROS 2 PointCloud2 message. Browse other questions tagged, Where developers & technologists share private knowledge with coworkers, Reach developers & technologists worldwide. Definition at line 23 of file PCLPointCloud2.h. 2-D image styles usually come from depth sensors or stereo cameras. Not sure if it was just me or something she sent to the whole team. It only takes a minute to sign up. How can I fix it? why custom generated pointcloud2 is displayed as line on rviz? The other questions specific to Velodyne I would not be able to answer since I don't know anything about your configuration. The total length of one point in bytes is stored as "point_step", answering your fourth question. The basic code I am working with is here: I want to be able to access the x,y,z elements of each point in the cloud and ideally just write them all out to a textfile. On the other hand, a PointCloud2 is a complex data type that is not so easy to understand. The object contains meta-information about the message and the point cloud data. The ROS 2 messages are specified as a nonvirtual bus. Not the answer you're looking for? Definition at line 32 of file PCLPointCloud2.h. Also what you need to have in mind, is that the data is stored as uint8, but your points should be in float32, if I see it correctly. We do not currently allow content pasted from ChatGPT on Stack Overflow; read our policy here. Definition at line 28 of file PCLPointCloud2.h. Is it possible to hide or delete the new Toolbar in 13.1? This way you don't need to worry about the underlying representation at all. Help us identify new roles for community members, Proposing a Community-Specific Closure Reason for non-English content, Link-Error LNK2020 & 2001 Visual C++ in VS2012 with PCL-Libraries, Range image generation for live kinect data in PCL (point cloud library), Point Feature Histograms in PCL library output interpretation. I have read through the documents for PointCloud2 but did not find helpful information for understand the "data". For ways that are compatible in C++, I recommend reading from http://wiki.ros.org/pcl_ros, which describes that: pcl_ros extends the ROS C++ client library to support message passing with PCL native data types. IFF the layout of all the fields in both the clouds is the same, this command doesn't remove any fields named "_" (aka marked as skip). const PCLPointCloud2 & rhs ) Add a point cloud to the current cloud. To subscribe to this RSS feed, copy and paste this URL into your RSS reader. This means that you can internally use PCL all you want, and it's all a ROS PointCloud2 message. and 3.: fields.datatype and fields.count: See this, point.step is number of bytes or data entries for one point, row_step: See your own link, so it is "number of points per row * point_step". Connect and share knowledge within a single location that is structured and easy to search. 3. Thanks for contributing an answer to Stack Overflow! The offset is simply where the definition of that part of the first and next point starts in that honkin' huge array. So you need 4 data entries to represent the x value of one point. #include Point clouds organized as 2d images may be produced by # camera depth sensors such as stereo or time-of-flight. How does legislative oversight work in Switzerland when there is technically no "opposition" in parliament? V-REP plugin that publishes a full revolution of PointCloud2 point into ROS. ros zmq sensor-data pointcloud zmq-tcp zmq-library pointcloud2 Updated Jan 14, . Referenced by pcl::concatenate(), and pcl::PolygonMesh::concatenate(). Here you can find useful information about the message structure and how to iterate through the cloud points. Therefore each value (x,y,z,intensity, etc.) How to convert 'velodyne_msgs/VelodyneRawScan' to PointCloud or PointCloud2? 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