readAllFieldNames

Get all available field names from ROS point cloud

Syntax

fieldnames = readAllFieldNames(pcloud)

Description

fieldnames = readAllFieldNames(pcloud) gets the names of all point fields that are stored in the PointCloud2 object message, pcloud, and returns them in fieldnames.

Note

readAllFieldNames will be removed. Use rosReadAllFieldNames instead. For more information, see ROS Message Structure Functions

Examples

Read All Fields From Point Cloud Message

Load sample ROS messages including a ROS point cloud message, ptcloud.

exampleHelperROSLoadMessages

Read all the field names available on the point cloud message.

fieldnames = readAllFieldNames(ptcloud)

fieldnames = 1x4 cell
    {'x'}    {'y'}    {'z'}    {'rgb'}

Input Arguments

pcloud — Point cloud

PointCloud2 object handle

Point cloud, specified as a PointCloud2 object handle for a 'sensor_msgs/PointCloud2' ROS message.

Output Arguments

fieldnames — List of field names in PointCloud2 object

cell array of character vectors

List of field names in PointCloud2 object, returned as a cell array of character vectors. If no fields exist in the object, fieldname returns an empty cell array.

Version History

Introduced in R2019b

R2021a: ROS Message Structure Functions

Not recommended starting in R2021a

You can now create messages as structures with fields matching the message object properties. Using structures typically improves performance of creating, updating, and using ROS messages, but message fields are no longer validated when set. Message types and corresponding field values from the structures are validated when sent across the network.

To support message structures as inputs, new functions that operate on specialized ROS messages have been provided. These new functions are based on the existing object functions of message objects, but support ROS and ROS 2 message structures as inputs instead of message objects.

The object functions will be removed in a future release.

Message Types	Object Function Name	New Function Name
Image CompressedImage	readImage writeImage	rosReadImage rosWriteImage
LaserScan	readCartesian readScanAngles lidarScan plot	rosReadCartesian rosReadScanAngles rosReadLidarScan rosPlot
PointCloud2	apply readXYZ readRGB readAllFieldNames readField scatter3	rosApplyTransform rosReadXYZ rosReadRGB rosReadAllFieldNames rosReadField rosPlot
Quaternion	readQuaternion	rosReadQuaternion
OccupancyGrid	readBinaryOccupanyGrid readOccupancyGrid writeBinaryOccupanyGrid writeOccupanyGrid	rosReadOccupancyGrid rosReadBinaryOccupancyGrid rosReadOccupancyGrid rosWriteBinaryOccupancyGrid rosWriteOccupancyGrid
Octomap	readOccupancyMap3D	rosReadOccupancyMap3D
PointStamped PoseStamped QuaternionStamped Vector3Stamped TransformStamped	apply	rosApplyTransform
All messages	showdetails	rosShowDetails