hasPointCloud

R2026b

Determine if another point cloud is available in E57 file

Since R2026b

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    Syntax

    flag = hasPointCloud(e57Reader)

    Description

    flag = hasPointCloud(e57Reader) determines if another point cloud is available to read from the E57 file associated with the e57FileReader object e57Reader.

    example

    Examples

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    Open Live Script

    Download a ZIP file containing an E57 file, and then unzip the file. 

    zipFile = matlab.internal.examples.downloadSupportFile("lidar","data/e57ParkingLot.zip");
saveFolder = fileparts(zipFile);
e57FileName = [saveFolder filesep 'parkingLot.e57'];
if ~exist(e57FileName,"file")
    unzip(zipFile,saveFolder)
end

    Create an e57FileReader object using the downloaded E57 file.

    e57Reader = e57FileReader(e57FileName);

    Define a variable for storing point clouds, ptCloudArr and their corresponding poses, tformArr.

    ptCloudArr = [];
tformArr = [];

    Read the point clouds sequentially. Use the hasPointCloud object function to check whether the next point cloud is available.

    while hasPointCloud(e57Reader)
   [ptCloud,pcMetadata] = readPointCloud(e57Reader);
    for j = 1:numel(ptCloud) % To read multiple returns
        ptCloudArr = [ptCloudArr ptCloud(j)];
        tformArr = [tformArr pcMetadata.RelativePose];
    end
end

    Align the point clouds from the file to create a map.

    pcMap = pcalign(ptCloudArr,tformArr);

    Display the map.

    figure
pcshow(pcMap)

    Figure contains an axes object. The axes object contains an object of type scatter.

    Input Arguments

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    E57 file reader, specified as an e57FileReader object.

    Output Arguments

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    Next point cloud availability flag, returned as a 1 or 0 of data type logical. This value is logical 1 if the E57 file associated with the e57FileReader object has one or more point clouds to read next. Otherwise, the value is a logical 0.

    Version History

    Introduced in R2026b

    See Also

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