read

Read lidar scans from Hokuyo 2-D lidar sensor

Since R2024a

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Syntax

scan = read(hokuyoObj)
[scan,intensities] = read(hokuyoObj)
[___] = read(hokuyoObj,numScans)
[___] = read(___,ScanAngleLimits=scanAngleLimits)

Description

Add-On Required: This feature requires the Lidar Toolbox Support Package for Hokuyo Lidar Sensors add-on.

scan = read(hokuyoObj) reads the latest 2-D lidar scan from the hokuyolidar2d object hokuyoObj, and stores the read data in a lidarScan object, scan.

example

[scan,intensities] = read(hokuyoObj) returns the intensity value corresponding to each data point.

[___] = read(hokuyoObj,numScans) reads the specified number of lidar scans numScans using any combination of output arguments from previous syntaxes.

[___] = read(___,ScanAngleLimits=scanAngleLimits) specifies the lower and upper limits of the scan angles for reading the lidar scan data, in addition to any combination of arguments from previous syntaxes.

Examples

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Create a hokuyolidar2d object.

hokuyoObj = hokuyolidar2d;

Read the latest 2-D lidar scan by using the read function of the hokuyolidar2d object.

scan = read(hokuyoObj);

Plot all the points of the lidar scan.

plot(scan)

Plot of lidar scan from Hokuyo sensor

Input Arguments

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Hokuyo lidar sensor connection, specified as a hokuyolidar2d object.

Number of lidar scans to read, specified as a positive integer.

Data Types: single | double | int8 | int16 | int32 | int64 | uint8 | uint16 | uint32 | uint64

Azimuth limits for reading the lidar scans, specified as a two-element vector of the form [min max]. The values must not exceed the range specified by the ScanAngleLimits property of the hokuyolidar2d object. max must be greater than min. Units are in degrees.

Data Types: single | double

Output Arguments

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Lidar scan data read from the Hokuyo 2-D lidar sensor, returned as a lidarScan object or vector of lidarScan objects.

  • When you do not specify the numScans argument, or if its value is 1, the function returns a single lidarScan object.

  • When you specify the numScans argument with a value greater than 1, the function returns a numScans-element vector of lidarScan objects, ordered from the earliest to the most recent scan.

Intensity values of the lidar scan data read from the Hokuyo 2-D lidar sensor, returned as a vector or cell array.

  • When you do not specify the numScans argument, or if its value is 1, the function returns a vector of intensity values corresponding to the read lidar scan data.

  • When you specify the numScans argument with a value greater than 1, the function returns the intensity values as a 1-by-numScans cell array. Each element of cell array contains a vector of intensity values corresponding to the respective lidar scan data.

Data Types: double | cell

Version History

Introduced in R2024a

See Also

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