MATLAB pointCloud to PointCloud2

asked 2018-04-17 17:52:14 -0500

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I am looking to convert a MATLAB pointCloud object to a ROS PointCloud2 message. My application is receiving a point cloud, and processing the data in MATLAB. Then I wish to publish this cloud to ROS in the PointCloud2 format. I assume that since MATLAB can read the XYZ and RGB values in my subscribed PointCloud2 then there are translations between the two.

This is my current MATLAB pointCloud object that I wish to transform to something similar to the PointCloud2 that i receive.

MATLAB pointCloud

This is my received PointCloud2 message in MATLAB:

ROS PointCloud2 in MATLAB

I would very much appreciate any help! I think that I really don't understand how the PointCloud2 messages are formatted...

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Note: Question also asked on MATLAB Answers: https://www.mathworks.com/matlabcentral/answers/395620-ros-create-pointcloud2-from-matlab-pointcloud

cmfuhrman ( 2018-04-17 18:03:24 -0500 )edit

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answered 2018-05-23 10:50:47 -0500

cmfuhrman

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Currently there does not appear to be a built-in method to create a PointCloud2 in the MATLAB Robotics Systems Toolbox.

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Is there any update on this?

I am in the same situation and need to convert a Matlab pointCloud object to PointCloud2 object and the publish it.

Shantnu ( 2018-06-05 16:58:34 -0500 )edit

I was not able to publish a PointCloud2 from MATLAB easily. I was using MATLAB to process images and publish as PointCloud2, but ended up sending the images that make up the pointCloud and creating PointCloud2 with depth_image_proc node. Hope this helps you!

cmfuhrman ( 2018-06-06 22:22:49 -0500 )edit

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answered 2019-03-14 14:25:34 -0500

sea-bass
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Hi all,

It's almost been a year, but I just learned about this question!

I've written MATLAB and Simulink utilities to convert from Computer Vision System Toolbox to ROS PointCloud2 messages, and you can find them at the MATLAB Answers post (sorry, not enough points to upload here).

https://www.mathworks.com/matlabcentr...

Sebastian

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MATLAB pointCloud to PointCloud2

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