Extract XYZ coordinates from ROS or ROS 2 point cloud message structure
xyz = rosReadXYZ(
[x y z] coordinates from all points in the ROS or
'sensor_msgs/PointCloud2' message structure,
pcloud, and returns them as an n-by-3
matrix of n 3-D point coordinates. If the point cloud does not
contain the x, y, and z
fields, this function returns an error. Points that contain
are preserved in the output.
preserves the organizational structure of the point cloud returned in the
xyz = rosReadXYZ(
xyz output. For more information, see Preserving Point Cloud Structure.
fielddata = rosReadXYZ(pcloud,"Datatype","double") reads the
[x y z] data in double precision during code generation. If
you use this syntax for MATLAB® execution, the function always reads the data in the precision
specified by the corresponding field in the input message structure,
pcloud — Point cloud
PointCloud2 message structure
Point cloud, specified as a message structure for ROS or ROS 2
xyz — List of XYZ values from point cloud
n-by-3 matrix | h-by-w-by-3 matrix
List of XYZ values from point cloud, returned as a matrix. By default, this is a n-by-3 matrix.
PreserveStructureOnRead name-value pair argument
is set to
true, the points are returned as an
Point cloud data can be organized in either 1-D lists or in 2-D image styles. 2-D
image styles usually come from depth sensors or stereo cameras. The input
PointCloud2 object contains a
property that is either
Suppose you set the property to
pcloud.PreserveStructureOnRead = true;
Now calling any read functions (
rosReadField) preserves the organizational structure of the point cloud.
When you preserve the structure, the output matrices are of size
m is the height, n is the width, and
d is the number of return values for each point. Otherwise, all
points are returned as a x-by-d list. This
structure can be preserved only if the point cloud is organized.
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Usage notes and limitations:
Usage in MATLAB Function block is not supported.
Introduced in R2021a