PointCloud
A collection of N-dimensional points, which may contain additional fields with information like normals, intensity, etc.
Panel support
PointCloud is used in the 3D panel.
Schema
| field | type | description |
|---|---|---|
timestamp | time | Timestamp of point cloud |
frame_id | string | Frame of reference |
pose | Pose | The origin of the point cloud relative to the frame of reference |
point_stride | uint32 | Number of bytes between points in the data |
fields | PackedElementField[] | Fields in data. At least 2 coordinate fields from x, y, and z (all float64s) are required for each point's position; red, green, blue, and alpha (all float64s) are optional for customizing each point's color. |
data | bytes | Point data, interpreted using fields |
Reference implementations
Foxglove schemas are framework-agnostic, and can be implemented using any supported message encoding:
| encoding | schema |
|---|---|
| ROS 1 | foxglove_msgs/PointCloud |
| ROS 2 | foxglove_msgs/msg/PointCloud |
| JSON | foxglove.PointCloud |
| Protobuf | foxglove.PointCloud |
| FlatBuffers | foxglove.PointCloud |
You must use the schema names specified above for Foxglove Studio to recognize the schema.