27 lines
1.0 KiB
Plaintext
27 lines
1.0 KiB
Plaintext
# This message holds a collection of N-dimensional points, which may
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# contain additional information such as normals, intensity, etc. The
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# point data is stored as a binary blob, its layout described by the
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# contents of the "fields" array.
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#
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# The point cloud data may be organized 2d (image-like) or 1d (unordered).
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# Point clouds organized as 2d images may be produced by camera depth sensors
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# such as stereo or time-of-flight.
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# Time of sensor data acquisition, and the coordinate frame ID (for 3d points).
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std_msgs/Header header
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# 2D structure of the point cloud. If the cloud is unordered, height is
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# 1 and width is the length of the point cloud.
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uint32 height
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uint32 width
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# Describes the channels and their layout in the binary data blob.
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PointField[] fields
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bool is_bigendian # Is this data bigendian?
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uint32 point_step # Length of a point in bytes
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uint32 row_step # Length of a row in bytes
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uint8[] data # Actual point data, size is (row_step*height)
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bool is_dense # True if there are no invalid points
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