sensor_msgs/PointCloud2 Message
File: sensor_msgs/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.
# 此消息包含N维点的集合,其中可能包含法线,强度等附加信息。点数据以二进制Blob存储,其布局由“fields”数组的内容描述
# 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.
# 点云数据可以以2d(与图像类似)或1d(无序)排列。排列为2d图像的点云可以由相机深度传感器(stereo or time-of-flight)产生。
# Time of sensor data acquisition, and the coordinate frame ID (for 3d
# points).
# 传感器数据采集的时间和坐标系ID(对于3d点)
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.
# width - 以点数指定点云数据集的宽度。 WIDTH有两个含义:
* - 它可以为 无组织数据集 指定云中的总点数;
* - 它可以指定 有组织的点云数据集 的宽度(一行中的总点数)。
# height - 以点数指定点云数据集的高度。HEIGHT有两个含义:
* - 对于 无组织数据集,它设置为1(因此用于检查数据集是否ordered)。
* - 它可以指定 有组织的点云数据集 的高度(总行数);
uint32 height
uint32 width
# Describes the channels and their layout in the binary data blob.
# 描述二进制数据blob中的通道及其布局。
PointField[] fields
bool is_bigendian # Is this data bigendian? - 这个数据是大端格式吗?
uint32 point_step # Length of a point in bytes - 以字节为单位的点的长度
uint32 row_step # Length of a row in bytes - 行的长度(以字节为单位)
uint8[] data # Actual point data, size is (row_step*height) - 实际数据(二进制的数据流),大小为(row_step * height)
bool is_dense # True if there are no invalid points - 如果包含Inf / NaN值,则为false,否则为真
Compact Message Definition
std_msgs/Header header
uint32 height
uint32 width
sensor_msgs/PointField[] fields
bool is_bigendian
uint32 point_step
uint32 row_step
uint8[] data
bool is_dense