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What coordinate does uvs follow in read_points?

The uvs argument is a list of (x,y) coordinates. "Iterable" is referring to the fact that it uvs is a list. The coordinate system is that of the full PointCloud2. For the 2d arrangement of Points, the message definition does not specify whether the rows are ordered top-to-bottom or bottom-to-top. In my experience, the origin is in upper left, with y incrementing as you move down the rows.

What coordinate does uvs follow in read_points?

The uvs argument is a list of (x,y) coordinates. "Iterable" is referring to the fact that it uvs is a list. The coordinate system is that of the full PointCloud2. For the 2d 2-D arrangement of Points, the message definition does not specify whether the rows are ordered top-to-bottom or bottom-to-top. In my experience, the origin is in upper left, with y incrementing as you move down the rows.