CompressedPointCloud
A compressed point cloud. A decoder for format must decompress data, using metadata stored in the compressed payload to recover point positions and any additional per-point attributes. The decoded point cloud must include at least 2 coordinate fields from x, y, and z; red, green, blue, and alpha are optional for customizing each point's color.
Panel support
CompressedPointCloud is used in the 3D panel.
Schema
| field | type | description |
|---|---|---|
timestamp | Timestamp | Timestamp of point cloud |
frame_id | string | Frame of reference |
pose | Pose | The origin of the point cloud relative to the frame of reference |
data | bytes | Compressed point cloud data for exactly one point cloud, including any format-specific metadata needed to describe the decoded point attributes. |
format | string | Point cloud compression format. |
format
Supported values: draco (Google Draco).
note
Foxglove supports draco-encoded CompressedPointCloud messages in the 3D panel.
Reference implementations
Foxglove messages are framework-agnostic, and can be implemented using any supported message encoding:
| encoding | schema |
|---|---|
| ROS 1 | foxglove_msgs/CompressedPointCloud |
| ROS 2 | foxglove_msgs/msg/CompressedPointCloud |
| JSON | foxglove.CompressedPointCloud |
| Protobuf | foxglove.CompressedPointCloud |
| FlatBuffers | foxglove.CompressedPointCloud |
| OMG IDL | foxglove::CompressedPointCloud |
You must use the schema names specified above for Foxglove to recognize the schema.