Working with Ouster Lidar and pointcloud2

Hello,

I am trying to apply this tutorial to my case where I work with Ouster's lidar data:

http://data.ouster.io/sample-data-1.13/index.html

I don't know how to apply readXYZ() or readRGB() from a bagfile.

So far, I've tried it through this tutorial https://fr.mathworks.com/help/ros/ref/readmessages.html?searchHighlight=readMessages&s_tid=doc_srchtitle

but I get a structure object, so the format is not compatible.

Can anyone help me with that?

Answer 1

[Cam Salzberger]

Hello Julien,

I haven't tried the Ouster data, but there are two options when reading messages from rosbag: you can read them in as structures or as message objects. If you use "DataFormat","struct", the read will generally be faster, but it is not currently usable with the convenience functions readXYZ and readRGB. I would suggest leaving off the "DataFormat" name-value pair to extract the messages as objects, then call the functions.

-Cam

[julien attiogbe]

Hi Cam,

Thanks for your reply, this is correct : )

I just needed to put it this way :

bag= rosbag('myFile.bag');
sel= select(bag,'Topic','/os1_cloud_node/points');
msg=  readMessages(sel, 1: 30);

Then msg contains 1x1 PointCloud2 objects.