rosWriteXYZ
Write data points in x, y and z coordinates to a ROS or ROS 2 PointCloud2 message structure
Since R2023a
Description
specifies additional options using one or more name-value arguments.msgOut
= rosWriteXYZ(msgIn
,xyz
,Name=Value
)
Examples
Write Data Points in x, y and z Coordinates to a ROS or ROS 2 PointCloud2 Message
This example shows how to write data points in x,y and z coordinates to a ROS or ROS 2 PointCloud2 message structure.
Create a random m
-by-n
-by-3
matrix with x, y and z coordinate points.
xyz = uint8(10*rand(128,128,3));
Create a sensor_msgs/PointCloud2
message in ROS network.
rosMsg = rosmessage("sensor_msgs/PointCloud2","DataFormat","struct")
rosMsg = struct with fields:
MessageType: 'sensor_msgs/PointCloud2'
Header: [1x1 struct]
Height: 0
Width: 0
Fields: [0x1 struct]
IsBigendian: 0
PointStep: 0
RowStep: 0
Data: [0x1 uint8]
IsDense: 0
Write the x, y and z coordinate points to the ROS message. As x, y and z are of data type uint8, the PointStep
is 3 bytes.
rosMsg = rosWriteXYZ(rosMsg,xyz)
rosMsg = struct with fields:
MessageType: 'sensor_msgs/PointCloud2'
Header: [1x1 struct]
Height: 128
Width: 128
Fields: [3x1 struct]
IsBigendian: 0
PointStep: 3
RowStep: 384
Data: [49152x1 uint8]
IsDense: 1
Now create a sensor_msgs/PointCloud2
message in ROS network to set the PointStep
to the desired value.
emptyRosMsg = rosmessage("sensor_msgs/PointCloud2","DataFormat","struct");
Set the PointStep
in sensor_msgs/PointCloud2
message to 32 to store remaining bytes with RGB or intensity data or both.
rosMsg = rosWriteXYZ(emptyRosMsg,xyz,"PointStep",32)
rosMsg = struct with fields:
MessageType: 'sensor_msgs/PointCloud2'
Header: [1x1 struct]
Height: 128
Width: 128
Fields: [3x1 struct]
IsBigendian: 0
PointStep: 32
RowStep: 4096
Data: [524288x1 uint8]
IsDense: 1
You can also create a sensor_msgs/PointCloud2
message in ROS 2 network.
ros2Msg = ros2message("sensor_msgs/PointCloud2")
ros2Msg = struct with fields:
MessageType: 'sensor_msgs/PointCloud2'
header: [1x1 struct]
height: 0
width: 0
fields: [1x1 struct]
is_bigendian: 0
point_step: 0
row_step: 0
data: 0
is_dense: 0
Write the x, y and z coordinate points to the ROS 2 message. Set PointStep
to 32.
ros2Msg = rosWriteXYZ(ros2Msg,xyz,"PointStep",32)
ros2Msg = struct with fields:
MessageType: 'sensor_msgs/PointCloud2'
header: [1x1 struct]
height: 128
width: 128
fields: [3x1 struct]
is_bigendian: 0
point_step: 32
row_step: 4096
data: [524288x1 uint8]
is_dense: 1
Input Arguments
msgIn
— PointCloud2
message
"struct"
PointCloud2
, specified as a structure for ROS or ROS 2
sensor_msgs/PointCloud2
message.
Data Types: struct
xyz
— List of x, y and z coordinate values
m-by-3 matrix | m-by-n-by-3 matrix
List of XYZ values, specified as a m-by-3 or m-by-n-by-3 matrix.
Data Types: int8
| uint8
| int16
| uint16
| int32
| uint32
| single
| double
Name-Value Arguments
Example: PointStep=pointstep
PointStep
— Provides optional parameter for setting up the point step value of the input
sensor_msgs/PointCloud2
message
uint32(0) (default)
Point step is number of bytes or data entries for one point. If the
PointStep
field is not set in the input
sensor_msgs/PointCloud2
message, you can use this parameter to
manually set the PointStep
information.
Example: msgOut =
rosWriteXYZ(msgIn,xyz,PointStep=pointstep)
Data Types: uint32
FieldOffset
— provides optional parameter for setting up the offset of a PointField
of the input sensor_msgs/PointCloud2
message
uint32(0) (default)
Field Offset is number of bytes from the start of the point to the byte in which
the field begins to be stored. If the offset
field is not set for a
PointField
in the input
sensor_msgs/PointCloud2
message, you can use this parameter to
manually set the offset
information.
Example: msgOut =
rosWriteXYZ(msgIn,xyz,FieldOffset=fieldoffset)
Data Types: uint32
Output Arguments
msgOut
— PointCloud2
message
"struct"
PointCloud2
, specified as a structure for ROS or ROS 2
sensor_msgs/PointCloud2
message.
Data Types: struct
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Usage notes and limitations:
Usage in MATLAB Function block is not supported.
Version History
Introduced in R2023a
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