ROS Write Point Cloud, ROS 2 Write Point Cloud

x-, y-, and z- coordinates of each point in the point cloud data, specified as either an N-by-3 matrix or h-by-w-by-3 array. N is the number of points in the point cloud. h and w are the height and width of the image, in pixels.

Data Types: single

RGB values for each point of the point cloud data, specified as either an N-by-3 matrix or h-by-w-by-3 array. N is the number of points in the point cloud. h and w are the height and width of the image in pixels. The RGB values specify the red, green, and blue color intensities in the range of [0,1].

Dependencies

The selected color field must support rgb values.

Data Types: double

Alpha channel for image, specified as an N-by-1 vector or h-by-w matrix. Each element has a value in the range [0,1] that indicates the opacity of the corresponding pixel, with a value of 0 being completely transparent.

Dependencies

The selected color field must support alpha channel.

Data Types: double

Intensity values for each point in the point cloud data, specified as either an N-by-3 matrix or h-by-w-by-3 array. N is the number of points in the point cloud. h and w are the height and width of the image, in pixels.

Dependencies

You must select the Write to Intensity Field parameter.

Data Types: single | double

ROS or ROS 2 point cloud message, returned as a nonvirtual bus. You can use the ROS Publish or ROS 2 Publish block to publish the message to an active ROS or ROS 2 network respectively.

Data Types: bus

Color field of the point cloud image, specified as one of the supported options. Choose the appropriate option to specify color and alpha values corresponding to the point cloud image.

Select whether to write intensity values to the output message.