PointCloud
A collection of N-dimensional points, which may contain additional fields with information like normals, intensity, etc.
Panel support
PointCloud can be used in the following panels: 3D and Image.
Schema
| Field | Type | Description |
|---|---|---|
timestamp | time | Time when the point cloud was captured. |
frame_id | string | Reference frame that the point cloud is positioned relative to. |
pose | Pose | Position of the point cloud origin relative to the reference frame. |
point_stride | uint32 | Number of bytes between points in the data. |
fields | PackedElementField[] | List of fields describing the data layout for each point. Requires at least two of x, y, or z for position. Optional fields like color (r, g, b, a) can be included. |
data | bytes | Point data, interpreted using fields |
Reference implementations
Foxglove schemas are independent of any specific framework and can be used with any supported message encoding. The schema names should be specified as seen below:
| Encoding | Schema |
|---|---|
| ROS 1 | foxglove_msgs/PointCloud |
| ROS 2 | foxglove_msgs/msg/PointCloud |
| JSON | foxglove.PointCloud |
| Protobuf | foxglove.PointCloud |
| FlatBuffers | foxglove.PointCloud |
| OMG IDL | foxglove::PointCloud |