Unable to continually visualize 3D point cloud from LiDAR using ROS Read Point Cloud block

Question

MathWorks Support Team 2018-10-15

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/424095-unable-to-continually-visualize-3d-point-cloud-from-lidar-using-ros-read-point-cloud-block

编辑： MathWorks Support Team 2021-9-27

I am connecting a VLP16 LiDAR with Matlab through ROS. The LiDAR is a node in the network, and the lidar data is obtained in MATLAB by subscribing to that node.

I'm using a Simulink model with the Subscribe and Read Point Cloud blocks. The data from the RPC block is sent to a MATLAB function block where I'm visualizing the data using the "reshape" and "plot3" commands.Unfortunately, I seem to be able to only visualize the LiDAR sensor data in ROS in real time as segments instead of the entire cloud. Therefore, I have the following questions:

- Is this an appropriate way to interface LiDAR with MATLAB using ROS?

- If so, is it expected for the data to be cut off and restricted to 2D as I currently observe?

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Answer 1

MathWorks Support Team 2021-9-2

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https://ww2.mathworks.cn/matlabcentral/answers/424095-unable-to-continually-visualize-3d-point-cloud-from-lidar-using-ros-read-point-cloud-block#answer_341483

编辑：MathWorks Support Team 2021-9-27

You seem to be approaching the problem correctly. With respect to cutoff of data, modifying the array size will allow you to visualize the entire cloud : https://www.mathworks.com/help/ros/ug/manage-array-sizes-in-simulink-ros.html

By default all variable size data has a set limit, which can be modified by the dialog mentioned in the above link. Providing the correct size for the lidar data will allow all the data will be output from the ReadPointCloud block.