package px;

message PointCloudXYZI {
    message PointXYZI {
        required float x = 1;
        required float y = 2;
        required float z = 3;
        required float intensity = 4;
    }

    repeated PointXYZI points = 1;
}

message PointCloudXYZRGB {
    message PointXYZRGB {
        required float x = 1;
        required float y = 2;
        required float z = 3;
        required float rgb = 4;
    }

    repeated PointXYZRGB points = 1;
}

message RGBDImage
{
    required uint32 cols = 1;		///< Number of columns in image(s)
    required uint32 rows = 2;		///< Number of rows in image(s)
    required uint32 step1 = 3;		///< Step (stride) of image 1
    required uint32 type1 = 4;		///< Type of image 1
    required bytes imageData1 = 5;
    required uint32 step2 = 6;		///< Step (stride) of image 2
    required uint32 type2 = 7;		///< Type of image 2
    required bytes imageData2 = 8;
    optional uint32 camera_config = 9;	///< PxSHM::Camera enumeration
    optional uint32 camera_type = 10;	///< PxSHM::CameraType enumeration
    optional uint64 timestamp = 11;
    optional float roll = 12;
    optional float pitch = 13;
    optional float yaw = 14;
    optional float lon = 15;
    optional float lat = 16;
    optional float alt = 17;
    optional float ground_x = 18;
    optional float ground_y = 19;
    optional float ground_z = 20;
    repeated float camera_matrix = 21;
}