VoxelGrid

A 3D grid of data

Schema

field	type	description
timestamp	Timestamp	Timestamp of grid
frame_id	string	Frame of reference
pose	Pose	Origin of grid's corner relative to frame of reference
row_count	uint32	Number of grid rows
column_count	uint32	Number of grid columns
cell_size	Vector3	Size of single grid cell along x, y, and z axes, relative to pose
slice_stride	uint32	Number of bytes between depth slices in data
row_stride	uint32	Number of bytes between rows in data
cell_stride	uint32	Number of bytes between cells within a row in data
fields	PackedElementField[]	Fields in data. red, green, blue, and alpha are optional for customizing the grid's color.
data	bytes	Grid cell data, interpreted using fields, in depth-major, row-major (Z-Y-X) order.

data

For the data element starting at byte offset i, the coordinates of its corner closest to the origin will be: z = i / slice_stride * cell_size.z y = (i % slice_stride) / row_stride * cell_size.y x = (i % row_stride) / cell_stride * cell_size.x

Reference implementations

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

encoding	schema
ROS 1	foxglove_msgs/VoxelGrid
ROS 2	foxglove_msgs/msg/VoxelGrid
JSON	foxglove.VoxelGrid
Protobuf	foxglove.VoxelGrid
FlatBuffers	foxglove.VoxelGrid
OMG IDL	foxglove::VoxelGrid

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