Extracting xyzpoints from Point Cloud

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Abdul Hannan Qureshi
评论： Abdul Hannan Qureshi 2022-4-25
I want to extract xyz points data from Point Cloud model.
pointCloud with properties:
Location: [14816040×3 single]
Count: 14816040
XLimits: [-122.5566 183.8412]
YLimits: [-214.3051 106.7991]
ZLimits: [-4.3266 6.3947]
Color: [14816040×3 uint8]
Normal: [14816040×3 single]
Intensity: []
I am using two provided ways but not getting any results.
1st Code
ptCloud = pcread('M.ply');
ptCloud;
xyzPoints = ptCloud.Location;
x = xyzPoints(:,:,1);
y = xyzPoints(:,:,2);
z = xyzPoints(:,:,3);
points3D = [x(:)'; y(:)', z(:)'];
ERROR
Index in position 3 exceeds array bounds. Index must not exceed 1.
Error in xyzextract (line 8)
y = xyzPoints(:,:,2);
2nd function is
ptCloud;
pts = rosReadXYZ(ptCloud)
ERROR
Error using rosReadXYZ
Expected input to be one of these types:
struct
Instead its type was pointCloud.
Error in rosReadXYZ (line 46)
validateattributes(msg,{'struct'},{'scalar'},'rosReadXYZ');
Error in xyzextract (line 13)
pts = rosReadXYZ(ptCloud,"PreserveStructureOnRead",true);
Kindly advise, I just want to extract xyz points from Point Cloud.

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采纳的回答

Sean de Wolski
Sean de Wolski 2022-4-23
The location is the xyz points and it's 2d, not 3d like how you're indexing it.
points3d = ptCloud.Location.';
Would give you what you're after.
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Sean de Wolski
Sean de Wolski 2022-4-25
Looking at pointcloud2image( x,y,z,numr,numc ) - File Exchange - MATLAB Central (mathworks.com)
You'd call it with
nrows = YOUR_DESIRED_ROWS
ncols = YOUR_DESIRED_COLS
pointcloud2image(ptCloud.Location(:,1), ptCloud.Location(:,2), ptCloud.Location(:,3), nrows, ncols)
Additionally, you could probably just call scatteredInterpolant directly.
Abdul Hannan Qureshi
Abdul Hannan Qureshi 2022-4-25
@Sean de Wolski Thank you for clarrification. I will try that, I have clear preview now. Thanks again.

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更多回答（1 个）

Walter Roberson
Walter Roberson 2022-4-23
编辑：Walter Roberson 2022-4-24
Location: [14816040×3 single]
That tells you that the position information is 14816040 x 3 . It is not a 3D array.
Pointclouds store scattered information, not grids of information.
In some cases it may make sense to reshape() the scattered coordinates into a grid after it is extracted.
The information you get from the Location property is already the points3D array that you are trying to construct.
(Opps, Sean is right, you would need to take the transpose like he shows.)

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