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Extract XYZ coordinates from point cloud data



xyz = readXYZ(pcloud) extracts the [x y z] coordinates from all points in the PointCloud2 object, pcloud, and returns them as an n-by-3 matrix of n 3-D point coordinates. If the point cloud does not contain the x, y, and z fields, this function returns an error. Points that contain NaN are preserved in the output. To preserve the structure of the point cloud data, see Preserving Point Cloud Structure.


readXYZ will be removed. Use rosReadXYZ instead. For more information, see ROS Message Structure Functions


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Load sample ROS messages including a ROS point cloud message, ptcloud.


Read the XYZ values from the point cloud.

xyz = readXYZ(ptcloud);

Input Arguments

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Point cloud, specified as a PointCloud2 object handle for a 'sensor_msgs/PointCloud2' ROS message.

Output Arguments

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List of XYZ values from point cloud, returned as a matrix. By default, this is a n-by-3 matrix. If the point cloud object being read has the PreserveStructureOnRead property set to true, the points are returned as an h-by-w-by-3 matrix. For more information, see Preserving Point Cloud Structure.


Point cloud data can be organized in either 1-D lists or in 2-D image styles. 2-D image styles usually come from depth sensors or stereo cameras. The input PointCloud2 object contains a PreserveStructureOnRead property that is either true or false (default). Suppose you set the property to true.

pcloud.PreserveStructureOnRead = true;

Now calling any read functions (readXYZ,readRGB, or readField) preserves the organizational structure of the point cloud. When you preserve the structure, the output matrices are of size m-by-n-by-d, where m is the height, n is the width, and d is the number of return values for each point. Otherwise, all points are returned as a x-by-d list. This structure can be preserved only if the point cloud is organized.

Version History

Introduced in R2019b

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