pointcloud.proto

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syntax = "proto2";
package apollo.drivers;
 
import "modules/common_msgs/basic_msgs/header.proto";
 
message PointXYZIT {
  optional float x = 1 [default = nan];
  optional float y = 2 [default = nan];
  optional float z = 3 [default = nan];
  optional uint32 intensity = 4 [default = 0];
  optional uint64 timestamp = 5 [default = 0];
}
 
message PointCloud {
  optional apollo.common.Header header = 1;
  optional string frame_id = 2;
  optional bool is_dense = 3;
  repeated PointXYZIT point = 4;
  optional double measurement_time = 5;
  optional uint32 width = 6;
  optional uint32 height = 7;
}