[ROS2] sensor_msgs/msg/PointCloud2 Message

[ROS2] sensor_msgs/msg/PointCloud2 Message

 

File: sensor_msgs/msg/PointCloud2.msg

 

Raw Message Definition

# This message holds a collection of N-dimensional points, which may

# contain additional information such as normals, intensity, etc. The

# point data is stored as a binary blob, its layout described by the

# contents of the "fields" array.

#

# The point cloud data may be organized 2d (image-like) or 1d (unordered).

# Point clouds organized as 2d images may be produced by camera depth sensors

# such as stereo or time-of-flight.

# Time of sensor data acquisition, and the coordinate frame ID (for 3d points).

std_msgs/Header header

# 2D structure of the point cloud. If the cloud is unordered, height is

# 1 and width is the length of the point cloud.

uint32 height
uint32 width

# Describes the channels and their layout in the binary data blob.

PointField[] fields

#bool is_bigendian # Is this data bigendian?

#uint32 point_step # Length of a point in bytes

#uint32 row_step # Length of a row in bytes

#uint8[] data # Actual point data, size is (row_step*height)

#bool is_dense # True if there are no invalid points

 

Compact Message Definition

std_msgs/msg/Header header
uint32 height
uint32 width
sensor_msgs/msg/PointField[] fields
boolean is_bigendian
uint32 point_step
uint32 row_step
uint8[] data
boolean is_dense

autogenerated on Oct 09 2020 00:02:33

 

https://docs.ros2.org/foxy/api/sensor_msgs/msg/PointCloud2.html

msg/PointCloud2 Documentation