Robotics Systems Types

     * One channel of color information attached to a set of 3D points.

     *

     * Each channel contains a vector of the same size as the original point

     * cloud and attaches the value of one color channel to each point of the

     * target point cloud.

     *

     * The following conventions for channel names and respective values exist:

     *

     * * "r", "g", "b": RGB values represented between 0 and 1

     * * "intensity": grayscale image value. Between 0 and 1

     * * "u", "v": forms a YUV color information in combination with an

     *             "intensity" channel. Between 0 and 1

     *

     * Inspired by the design of the sensor_msgs/ChannelFloat32 ROS message

     * type.

     *

     * @author jwienke

     */

    message Channel {

        /**

         * The name of the color channel.

         */

        required string name = 1;

        /**

         * The actual values for the represented color channel for each point

         * of the target point cloud.

         */

        repeated float values = 2;

    }

    /**

    /**

     * An optional set of color-like information to attach to each point of

     * the point cloud.

     */

    // TODO formulate length constraint

    repeated Channel channels = 2;