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

fieldtypedescription
timestamptimeTimestamp of point cloud
frame_idstringFrame of reference
posePoseThe origin of the point cloud relative to the frame of reference
point_strideuint32Number of bytes between points in the data
fieldsPackedElementField[]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.
databytesPoint data, interpreted using fields

Reference implementations

Foxglove schemas are framework-agnostic, and can be implemented using any supported message encoding:

encodingschema
ROS 1foxglove_msgs/PointCloud
ROS 2foxglove_msgs/msg/PointCloud
JSONfoxglove.PointCloud
Protobuffoxglove.PointCloud
FlatBuffersfoxglove.PointCloud

You must use the schema names specified above for Foxglove Studio to recognize the schema.