PointCloud
A collection of N-dimensional points, possibly with additional field information such as normals or intensities.
Panel Support
PointCloud is used in the 3D Panel and Image Panel.
Data Structure
| Field | Type | Description |
|---|---|---|
| timestamp | time | Point cloud timestamp |
| frame_id | string | Reference coordinate system |
| pose | pose | Point cloud origin position relative to the reference coordinate system |
| point_stride | uint32 | Number of bytes between adjacent points in the data |
| fields | PackedElementField[] | Fields in data. Each point must have at least 2 coordinate fields from x, y, z; red, green, blue, and alpha are optional for customizing the color of each point. |
| data | bytes | Point data, interpreted using fields |
Reference Implementation
The visualization data structure is framework-independent and can be implemented using any supported message encoding:
| Encoding | Data Structure |
|---|---|
| ROS 1 | foxglove_msgs/PointCloud |
| ROS 2 | foxglove_msgs/msg/PointCloud |
| JSON | foxglove.PointCloud |
| Protobuf | foxglove.PointCloud |
| FlatBuffers | foxglove.PointCloud |
| OMG IDL | foxglove::PointCloud |
You must use the data structure name specified above so that the visualization can recognize the data structure.