How can I 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?

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?

[Sanad Afaneh]

Now after obtaining the xyz coordinates, how can I convert the data into a 3 column matrix?

Answer 1

[Walter Roberson]

ptCloud.Location

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

[Walter Roberson]

"Now after obtaining the xyz coordinates, how can I convert the data into a 3 column matrix?"

For "unorganized" pointclouds, the Location property will already be a 3 column matrix. For "organized" pointclouds, you can reshape

reshape(ptCloud.Location, [], 3)

(You can do that for unorganized pointclouds as well, which will just leave the results unchanged.)

[Sanad Afaneh]

Ok! Thanks!

[Maharani Putri]

@Walter Roberson Thank you for your help. Finally, I have a good answer.

The next question, how can we find Xmin; Ymin; and Zmin for the 3 column matrix?

Thanks.

[Walter Roberson]

mins = min(YourMatrixWithThreeColumns,1);
Xmin = mins(1); Ymin = mins(2); Zmin = mins(3);