pointCloudPcdChunk property
One chunk of the PointCloud. For a given GetPointCloudMap request, concatenating all GetPointCloudMapResponse.point_cloud_pcd_chunk values in the order received result in the complete pointcloud in standard PCD format where XY is the ground plane and positive Z is up, following the Right Hand Rule.
Read more about the pointcloud format here: https://pointclouds.org/documentation/tutorials/pcd_file_format.html
Viam expects pointcloud data with fields "x y z" or "x y z rgb", and for this to be specified in the pointcloud header in the FIELDS entry. If color data is included in the pointcloud, Viam's services assume that the color value encodes a confidence score for that data point. Viam expects the confidence score to be encoded in the blue parameter of the RGB value, on a scale from 1-100.
Pointclouds are little endian encoded.
Implementation
@$pb.TagNumber(1)
$core.List<$core.int> get pointCloudPcdChunk => $_getN(0);