Read point cloud data based on field name
pcloud— Point cloud
Point cloud, specified as a
structure for a
fieldname— Field name of point cloud data
Field name of point cloud data, specified as a string scalar or character
vector. This string must match the field name exactly. If
fieldname does not exist, the function displays an
fielddata— List of field values from point cloud
List of field values from point cloud, returned as a matrix. Each row of the matrix is a point cloud reading, where n is the number of points and c is the number of values for each point.
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.
Usage notes and limitations:
Usage in MATLAB Function block is not supported.