regarding "hokuyo_points" topic in scan_to_pcl.cpp

[ahar]

Hi, While I was following your code, I observed that /hokuyo_points topic contains a set of 8 data values and then the index of the data as per valid range position in /scan topic arrives. I looked into all the header files and all other corresponding functions relevant to this code and the spin_hokuyo package. I am unable to understand where from does this 8 data generate. If I try to relate this with PointCloud2 data fields, I could not correlate them with any meaningful x,y,z coordinates. Is it anyway related to geometry_msgs/TransformStamped Message. There also, translation and rotation comprises of 7 data and frame_id and header comes separately. I checked the /tf topic which provides the translation and rotation. Can you please help me to figure out what I am actually missing here?

Also, projectLaser has been used here and not the transformLaserScanToPointCloud.

thanks, Anindya