Foxglove Technologies · Schema

foxglove.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.

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Properties

Name	Type	Description
timestamp	object	Timestamp of point cloud
frame_id	string	Frame of reference
pose	object	The origin of the point cloud relative to the frame of reference
data	string	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. Supported values: `draco` ([Google Draco](https://google.github.io/draco/)).

View JSON Schema on GitHub

JSON Schema

{
  "title": "foxglove.CompressedPointCloud",
  "description": "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.",
  "$comment": "Generated by https://github.com/foxglove/foxglove-sdk",
  "type": "object",
  "properties": {
    "timestamp": {
      "type": "object",
      "title": "time",
      "properties": {
        "sec": {
          "type": "integer",
          "minimum": 0
        },
        "nsec": {
          "type": "integer",
          "minimum": 0,
          "maximum": 999999999
        }
      },
      "description": "Timestamp of point cloud"
    },
    "frame_id": {
      "type": "string",
      "description": "Frame of reference"
    },
    "pose": {
      "title": "foxglove.Pose",
      "description": "The origin of the point cloud relative to the frame of reference",
      "type": "object",
      "properties": {
        "position": {
          "title": "foxglove.Vector3",
          "description": "Point denoting position in 3D space",
          "type": "object",
          "properties": {
            "x": {
              "type": "number",
              "description": "x component"
            },
            "y": {
              "type": "number",
              "description": "y component"
            },
            "z": {
              "type": "number",
              "description": "z component"
            }
          },
          "required": [
            "x",
            "y",
            "z"
          ]
        },
        "orientation": {
          "title": "foxglove.Quaternion",
          "description": "Quaternion denoting orientation in 3D space",
          "type": "object",
          "properties": {
            "x": {
              "type": "number",
              "description": "x value"
            },
            "y": {
              "type": "number",
              "description": "y value"
            },
            "z": {
              "type": "number",
              "description": "z value"
            },
            "w": {
              "type": "number",
              "description": "w value"
            }
          },
          "required": [
            "x",
            "y",
            "z",
            "w"
          ]
        }
      },
      "required": [
        "position",
        "orientation"
      ]
    },
    "data": {
      "type": "string",
      "contentEncoding": "base64",
      "description": "Compressed point cloud data for exactly one point cloud, including any format-specific metadata needed to describe the decoded point attributes."
    },
    "format": {
      "type": "string",
      "description": "Point cloud compression format.\n\nSupported values: `draco` ([Google Draco](https://google.github.io/draco/))."
    }
  },
  "required": [
    "timestamp",
    "frame_id",
    "pose",
    "data",
    "format"
  ]
}