API review

Proposer: Tim Field

Present at review:

  • Kevin Watts
  • Tim Field
  • Tully Foote
  • Kaijen Hsiao


The Python API in question is implemented here:


It has two main functions, for reading and writing sensor_msgs.PointCloud2 messages, and a convenience function for writing the common case of a PointCloud2 message with 3 float32 fields for x, y, z.

Question / concerns / comments

Enter your thoughts on the API and any questions / concerns you have here. Please sign your name. Anything you want to address in the API review should be marked down here before the start of the meeting.


Looks good to me.


'points' in create_cloud just says 'list'. I assume list of lists? For xyz format, [[x1,y1,z1],[x2,y2,z2]]? That should be made clear.

  • Tim: a list of iterables. Slightly wordy, but I'll change the docs to:

@param points: The point cloud points.
@type  points: list of iterables, i.e. one iterable for each point, with the
               elements of each iterable being the values of the fields for 
               that point (in the same order as the fields parameter)

Meeting agenda

To be filled out by proposer based on comments gathered during API review period


Package status change mark change manifest)

  • /!\ Action items that need to be taken.

  • {X} Major issues that need to be resolved

Wiki: sensor_msgs/Reviews/Python PointCloud2 _API_Review (last edited 2012-01-20 00:29:34 by TimField)