readAllFieldNames

(To be removed) Get all available field names from ROS point cloud

readAllFieldNames will be removed in a future release. Use rosReadAllFieldNames instead. For more information, see ROS Message Structure Functions.

Syntax

fieldnames = readAllFieldNames(pcloud)

Description

fieldnames = readAllFieldNames(pcloud) gets the names of all point fields that are stored in the PointCloud2 object message, pcloud, and returns them in fieldnames.

example

Examples

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Read All Fields From Point Cloud Message

Open Live Script

Load sample ROS messages including a ROS point cloud message, ptcloud.

exampleHelperROSLoadMessages

Read all the field names available on the point cloud message.

fieldnames = readAllFieldNames(ptcloud)

fieldnames = 1x4 cell
    {'x'}    {'y'}    {'z'}    {'rgb'}

Input Arguments

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`pcloud` — Point cloud
`PointCloud2` object handle

Point cloud, specified as a PointCloud2 object handle for a 'sensor_msgs/PointCloud2' ROS message.

Output Arguments

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`fieldnames` — List of field names in `PointCloud2` object
cell array of character vectors

List of field names in PointCloud2 object, returned as a cell array of character vectors. If no fields exist in the object, fieldname returns an empty cell array.

Version History

Introduced in R2019b

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R2021a: ROS Message Structure Functions

You can now create messages as structures with fields matching the message object properties. Using structures typically improves performance of creating, updating, and using ROS messages, but message fields are no longer validated when set. Message types and corresponding field values from the structures are validated when sent across the network.

To support message structures as inputs, new functions that operate on specialized ROS messages have been provided. These new functions are based on the existing object functions of message objects, but support ROS and ROS 2 message structures as inputs instead of message objects.

The object functions will be removed in a future release.

Message Types	Object Function Name	New Function Name
`Image` `CompressedImage`	`readImage` `writeImage`	`rosReadImage` `rosWriteImage`
`LaserScan`	`readCartesian` `readScanAngles` `lidarScan` `plot`	`rosReadCartesian` `rosReadScanAngles` `rosReadLidarScan` `rosPlot`
`PointCloud2`	`apply` `readXYZ` `readRGB` `readAllFieldNames` `readField` `scatter3`	`rosApplyTransform` `rosReadXYZ` `rosReadRGB` `rosReadAllFieldNames` `rosReadField` `rosPlot`
`Quaternion`	`readQuaternion`	`rosReadQuaternion`
`OccupancyGrid`	`readBinaryOccupanyGrid` `readOccupancyGrid` `writeBinaryOccupanyGrid` `writeOccupanyGrid`	`rosReadOccupancyGrid` `rosReadBinaryOccupancyGrid` `rosReadOccupancyGrid` `rosWriteBinaryOccupancyGrid` `rosWriteOccupancyGrid`
`Octomap`	`readOccupancyMap3D`	`rosReadOccupancyMap3D`
`PointStamped` `PoseStamped` `QuaternionStamped` `Vector3Stamped` `TransformStamped`	`apply`	`rosApplyTransform`
All messages	`showdetails`	`rosShowDetails`

readAllFieldNames

Syntax

Description

Examples

Read All Fields From Point Cloud Message

Input Arguments

pcloud — Point cloud PointCloud2 object handle

Output Arguments

fieldnames — List of field names in PointCloud2 object cell array of character vectors

Version History

R2021a: ROS Message Structure Functions

See Also

`pcloud` — Point cloud
`PointCloud2` object handle

`fieldnames` — List of field names in `PointCloud2` object
cell array of character vectors