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Read Ibeo scan data and point cloud plane messages


ptCloud = readMessages(ibeoReader) reads Ibeo FUSION SYSTEM/ECU scan data and Ibeo point cloud plane messages from an Ibeo data container (IDC) file. The function returns an array of pointCloud objects, where each object contains individual message data.

[ptCloud,messageData] = readMessages(ibeoReader) additionally returns the message type and timestamp for each message. If the message is a point cloud plane message, the function also returns additional plane information.

[___] = readMessages(ibeoReader,Name,Value) specifies options using one or more name-value pair arguments in addition to the input argument. For example, 'Messages',"Scan" sets the message type to read from the IDC file to "Scan".

Input Arguments

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IDC file reader, specified as an ibeoLidarReader object.

Name-Value Arguments

Specify optional comma-separated pairs of Name,Value arguments. Name is the argument name and Value is the corresponding value. Name must appear inside quotes. You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN.

Example: 'Messages',"Scan" sets the readMessages function to only read Ibeo scan data messages from the IDC file.

Message types to read from the IDC file, specified as the comma-separated pair consisting of 'Messages' and a string scalar, vector of strings, character vector, or a cell array of character vectors. Each element must be one of these valid message types:

  • "Scan"

  • "PointCloudPlane"

Data Types: string | char | cell

Timestamps of messages, specified as the comma-separated pair consisting of 'Time' and one of these options:

  • datetime array — Represents a single timestamp

  • 1-by-2 datetime array — Represents all timestamps in the range [startTime endTime].

Data Types: datetime

Output Arguments

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Point cloud array, returned as an array of pointCloud objects. Each element of the returned array is a point cloud that contains the data of a single message.

Information on messages read from the file, returned as a cell array of structures. Each structure contains this information for a single message.

  • MessageType – Type of message, returned as "Scan" or "PointCloudPlane".

  • TimeStamp – Timestamp value for each message in the file, returned as a datetime array.

If the value of the MessageType field for a message is "PointCloudPlane", then the structure contains this additional plane information.

  • Label – Classification type of all points in the point cloud, returned as one of these values.

    • "Undefined"

    • "ScanPoint"

    • "LanePoint"

    • "CurbstonePoint"

    • "GuardrailPoint"

    • "RoadmarkingPoint"

    • "OffRoadMarkingPoint"

  • ReferencePoint – Reference point for the plane points, returned as a three-element vector that contains the longitude and latitude of the point in degrees and the altitude in meters.

  • PlaneOrientation – Plane orientation, returned as a three-element vector that contains the yaw, pitch, and roll of the plane in degrees.

Introduced in R2020b