MATLAB: How to extract xyz coordinates from a point cloud, given that the class is PointCloud instead of PointCloud2? Is there a way to convert the class type from PointCloud to PointCloud2

arraysmatrixmatrix arraypoint cloudxyz

I keep getting the error: Undefined function or variable 'xyzPoints' Class gives me: >> class(ptCloud)

ans =

    'pointCloud'

Instead of PointCloud2

Is it possible to change the class?

Best Answer

ptCloud.Location

See the properties list https://www.mathworks.com/help/vision/ref/pointcloud-class.html

Related Solutions

MATLAB: Convert unorganized point cloud (MX3) to organized point cloud (MXNX3)

You do not need to convert a pointCloud to organized form to use the pcfitplane function.

Here is an example:

% Read an unorganized point cloud
ptCloud = pcread('teapot.ply');
% The point cloud is unorganized, since Location property is M-by-3
disp(size(ptCloud.Location))
% Use pcfitplane
maxDistance     = 0.5;
referenceVector = [0 0 1];
model = pcfitplane(ptCloud, maxDistance, referenceVector)
figure
pcshow(ptCloud)
hold on
plot(model)

If you are getting an error, could you please send reproduction steps and the release of MATLAB you are using (use the ver command).

MATLAB: Is the pointsToWorld back-projection inverted

You may need to convert the camera world pose to extrinsics using cameraPoseToExtrinsics:

[worldOri,worldLoc] = estimateWorldCameraPose(worldPoints(:,[1 2]),worldPoints,intrinsics);
[rotationMatrix,translationVector] = cameraPoseToExtrinsics(worldOri,worldLoc);
backProjectPoints = pointsToWorld(intrinsics,rotationMatrix,translationVector,imagePoints);

Best Answer

Related Solutions

MATLAB: Convert unorganized point cloud (MX3) to organized point cloud (MXNX3)

MATLAB: Is the pointsToWorld back-projection inverted

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