Convert Struct to Pointcloud using ROS2

Question

manuel mar 2021-9-10

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https://ww2.mathworks.cn/matlabcentral/answers/1450834-convert-struct-to-pointcloud-using-ros2

回答： Josh Chen 2021-9-10

I am trying to convert one structure (a) to point to cloud2.However, I am having problems converting this. Already tried this

ptCloud = pointCloud('a');

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Answer 1

Josh Chen 2021-9-10

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https://ww2.mathworks.cn/matlabcentral/answers/1450834-convert-struct-to-pointcloud-using-ros2#answer_784904

Hello Manuel,

The function pointCloud takes 3-D coordinate points as input argument. However, the variable 'a' here in the screenshot seems to be an 'sensor_msgs/PointCloud2' message struct. To return a point cloud, you would have to first use rosReadXYZ to extract the 3-D coordinate points and use it as the input to the pointCloud function.

In this case, the following code shall return the point cloud from a:

>> pts = rosReadXYZ(a);

>> ptCloud = pointCloud(pts);

Hope this helps,

Josh