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MATLAB ros 3D visualizing in real time

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Eirik Furuholt
Eirik Furuholt 2021년 3월 12일
댓글: Hamed Dawlatshahi 2021년 3월 24일
I am trying to visualize a ros pointcloud2 data stream, like one can do in RViz. I can't find a matlab guide on how to do this. My data comes from a SICK MRS6000. I have all the toolboxes for ROS and autonomous driving. Any help is apriciated

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Cam Salzberger
Cam Salzberger 2021년 3월 12일
Hello Eirik,
You can create a ROS subscriber for the PointCloud2 topic, and in the callback have it update a scatter3 plot showing the point cloud.
Alternatively, create a pcplayer. Then you can extract the points using readXYZ (and optionally readRGB) and use that to construct a pointCloud object, and provide that to the pcplayer view method to display it.
If you have R2021a, you can create the subscriber using "DataFormat","struct", and make use of "rosPlot" for the scatter3 workflow, or "rosReadXYZ" (and "rosReadRGB") for the pcplayer workflow. Using struct format will make the data manipulation faster.
-Cam
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Hamed Dawlatshahi
Hamed Dawlatshahi 2021년 3월 24일
Thank you for the answer Cam Salzberger,
I work with Eirik on this project and we have managed to get the data in a scatter3 plot and also been able to display the data in pcplayer, but we only get the data for one frame. Do you know how we can get a continous stream of data and visualize it?
-Hamed

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