PointCloudMetadata

Fully qualified name: isaacsim::ros2::nodes::PointCloudMetadata

struct PointCloudMetadata

Metadata pointers for optional per-point fields in a lidar point cloud. Any pointer that is null will be omitted from the published message.

Public Members

float *intensityPtr = nullptr

Per-point intensity values.

uint64_t *timestampPtr = nullptr

Per-point timestamps (ns).

uint32_t *emitterIdPtr = nullptr

Per-point emitter IDs.

uint32_t *channelIdPtr = nullptr

Per-point channel IDs.

uint32_t *materialIdPtr = nullptr

Per-point material IDs.

uint32_t *tickIdPtr = nullptr

Per-point tick IDs.

pxr::GfVec3f *hitNormalPtr = nullptr

Per-point hit normals.

pxr::GfVec3f *velocityPtr = nullptr

Per-point velocity vectors.

uint32_t *objectIdPtr = nullptr

Per-point object IDs.

uint8_t *echoIdPtr = nullptr

Per-point echo IDs.

uint8_t *tickStatePtr = nullptr

Per-point tick states.

float *radialVelocityMSPtr = nullptr

Per-point radial velocity (m/s).