Extracting xyzpoints from Point Cloud

조회 수: 30 (최근 30일)
Abdul Hannan Qureshi
Abdul Hannan Qureshi 2022년 4월 23일
댓글: Abdul Hannan Qureshi 2022년 4월 25일
I want to extract xyz points data from Point Cloud model.
pointCloud with properties:
Location: [14816040×3 single]
Count: 14816040
XLimits: [-122.5566 183.8412]
YLimits: [-214.3051 106.7991]
ZLimits: [-4.3266 6.3947]
Color: [14816040×3 uint8]
Normal: [14816040×3 single]
Intensity: []
I am using two provided ways but not getting any results.
1st Code
ptCloud = pcread('M.ply');
ptCloud;
xyzPoints = ptCloud.Location;
x = xyzPoints(:,:,1);
y = xyzPoints(:,:,2);
z = xyzPoints(:,:,3);
points3D = [x(:)'; y(:)', z(:)'];
ERROR
Index in position 3 exceeds array bounds. Index must not exceed 1.
Error in xyzextract (line 8)
y = xyzPoints(:,:,2);
2nd function is
ptCloud;
pts = rosReadXYZ(ptCloud)
ERROR
Error using rosReadXYZ
Expected input to be one of these types:
struct
Instead its type was pointCloud.
Error in rosReadXYZ (line 46)
validateattributes(msg,{'struct'},{'scalar'},'rosReadXYZ');
Error in xyzextract (line 13)
pts = rosReadXYZ(ptCloud,"PreserveStructureOnRead",true);
Kindly advise, I just want to extract xyz points from Point Cloud.

채택된 답변

Sean de Wolski
Sean de Wolski 2022년 4월 23일
The location is the xyz points and it's 2d, not 3d like how you're indexing it.
points3d = ptCloud.Location.';
Would give you what you're after.
  댓글 수: 5
Sean de Wolski
Sean de Wolski 2022년 4월 25일
You'd call it with
nrows = YOUR_DESIRED_ROWS
ncols = YOUR_DESIRED_COLS
pointcloud2image(ptCloud.Location(:,1), ptCloud.Location(:,2), ptCloud.Location(:,3), nrows, ncols)
Additionally, you could probably just call scatteredInterpolant directly.
Abdul Hannan Qureshi
Abdul Hannan Qureshi 2022년 4월 25일
@Sean de Wolski Thank you for clarrification. I will try that, I have clear preview now. Thanks again.

댓글을 달려면 로그인하십시오.

추가 답변 (1개)

Walter Roberson
Walter Roberson 2022년 4월 23일
편집: Walter Roberson 2022년 4월 24일
Location: [14816040×3 single]
That tells you that the position information is 14816040 x 3 . It is not a 3D array.
Pointclouds store scattered information, not grids of information.
In some cases it may make sense to reshape() the scattered coordinates into a grid after it is extracted.
The information you get from the Location property is already the points3D array that you are trying to construct.
(Opps, Sean is right, you would need to take the transpose like he shows.)

카테고리

Help CenterFile Exchange에서 Point Cloud Processing에 대해 자세히 알아보기

태그

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by