rosReadRGB
Extract RGB color values from ROS or ROS 2 point cloud message structure
Since R2021a
Syntax
Description
preserves the organizational structure of the point cloud returned in the
rgb
= rosReadRGB(pcloud
,"PreserveStructureOnRead",true)rgb
output. For more information, see Preserving Point Cloud Structure.
fielddata = rosReadRGB(pcloud,"Datatype","double")
reads the
[r g b]
data in double precision during code generation. If
you use this syntax for MATLAB® execution, the function always reads the data in the precision
specified by the corresponding field in the input message structure,
pcloud
.
Input Arguments
Output Arguments
Tips
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 (rosReadXYZ
, rosReadRGB
, or rosReadField
) 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.
Extended Capabilities
Version History
Introduced in R2021a