matlab-point-cloud-file-io

Name: matlab-point-cloud-file-io
Author: matlab

815stars105forks

How to install matlab-point-cloud-file-io?

matlab/matlab-agentic-toolkit/matlab-point-cloud-file-io

$npx -y skills add matlab/matlab-agentic-toolkit --skill matlab-point-cloud-file-io

Installs into the current project.

Summary

Read and write 3-D point cloud data using Lidar Toolbox file I/O. Covers PLY, PCD, LAS/LAZ, PCAP (Velodyne/Ouster/Hesai), E57, and IDC (Ibeo) formats. Use when loading point clouds from disk, saving to disk, choosing the correct reader or writer for a file format, extracting or p

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SKILL.md

1	# Point Cloud File I/O
2
3	Read and write 3-D point cloud data in MATLAB using Lidar Toolbox file I/O functions, covering PLY, PCD, LAS/LAZ, sensor PCAP, E57, and IDC (Ibeo) formats.
4
5	## When to Use
6
7	- Loading a point cloud file from disk into a `pointCloud` object
8	- Saving a `pointCloud` object to disk in any supported format
9	- Deciding which reader or writer function to use for a given file format
10	- Reading LAS/LAZ files with selective filtering (ROI, classification, GPS time)
11	- Extracting or preserving lidar point attributes (classification, GPS timestamps, scan angle)
12	- Reading Velodyne, Ouster, or Hesai PCAP sensor recordings frame-by-frame
13	- Reading multi-scan E57 files with indexed access
14	- Reading Ibeo IDC sensor recordings with message-based access
15	- Converting between point cloud formats (e.g., LAS to PLY, PCD to LAZ)
16
17	## When NOT to Use
18
19	- Streaming live sensor data in real time (use `velodynelidar`, `ousterlidar`, `sicklidar`)
20	- Processing or filtering point clouds after reading (use `pcdownsample`, `pcdenoise`)
21	- Reading or writing surface meshes (use `readSurfaceMesh`, `writeSurfaceMesh`)
22	- Saving point cloud variables to MAT-files (use `save`)
23	- Visualizing point clouds (use `pcshow`, `pcplayer`, `pcviewer`)
24
25	## Must-Follow Rules
26
27	1. Route by file extension, not by habit — `pcread` ONLY supports `.ply` and `.pcd` files. For `.las`/`.laz` use `lasFileReader` + `readPointCloud`. For `.pcap` use the sensor-specific file reader (`velodyneFileReader`, `ousterFileReader`, or `hesaiFileReader`). For `.e57` use `e57FileReader`. Calling `pcread` on a LAS or PCAP file produces an error, not a warning. Similarly, `pcwrite` ONLY writes PLY and PCD — for LAS/LAZ output use `lasFileWriter` + `writePointCloud`.
28
29	2. PCAP file readers require a mandatory device identifier — never guess it — `velodyneFileReader` requires a `DeviceModel` string (e.g., `"HDL32E"`). `hesaiFileReader` requires a `DeviceModel` string (e.g., `"PandarXT32"`). `ousterFileReader` requires a `CalibrationFile` path (JSON). If the user has not specified the device model or calibration file, ASK — do not assume a default. There is no default value; omitting it causes an error.
30
31	3. Use two-output syntax to get point attributes from LAS/LAZ — `[ptCloud, ptAttributes] = readPointCloud(reader)` returns a `lidarPointAttributes` object containing Classification, GPSTimeStamp, LaserReturn, NumReturns, ScanAngle, and more. The single-output form discards these attributes permanently. Intensity is on the `pointCloud` object (`.Intensity` property), NOT on `lidarPointAttributes`.
32
33	4. Preserve attributes with three-argument writePointCloud — `writePointCloud(writer, ptCloud, ptAttributes)` preserves Classification, GPSTimeStamp, and other lidar attributes in LAS/LAZ output. The two-argument form `writePointCloud(writer, ptCloud)` discards all attributes. If the user has attributes from `lasFileReader`/`readPointCloud`, always pass them through.
34
35	5. PLY only supports ascii and binary encoding — Calling `pcwrite(ptCloud, "file.ply", Encoding="compressed")` throws an error. Only `"ascii"` and `"binary"` are valid for PLY. The `"compressed"` encoding is exclusive to PCD format. Defaults (R2026a+): PLY=`"binary"`, PCD=`"compressed"`.
36
37	6. Always use string syntax — Use double-quoted strings (`"text"`) for all literal text arguments (filenames, device models, encoding values, Name=Value values). Use `Name=Value` syntax for all name-value pairs. Never use character vectors (`'text'`) or legacy `'Name','Value'` pair syntax.
38
39	### Preflight Procedure
40
41	1. List MATLAB functions to call
42	2. Check `references/INDEX.md` for each (function-level + task-level tables)
43	3. Read required quick-ref files
44	4. State at response top: `Preflight: quick-ref/xxx.md, quick-ref/yyy.md` (or `Preflight: none required`)
45
46	## Key Functions
47
48	\| Function \| Purpose \| Format \| Key Constraint \|
49	\|---\|---\|---\|---\|
50	\| `pcread` \| Read point cloud from file \| PLY, PCD \| Single call, returns `pointCloud` \|
51	\| `pcwrite` \| Write point cloud to file \| PLY, PCD \| Encoding varies by format \|
52	\| `lasFileReader` \| Create LAS/LAZ reader object \| LAS, LAZ \| Two-step: create reader, then `readPointCloud` \|
53	\| `lasFileWriter` \| Create LAS/LAZ writer object \| LAS, LAZ \| Two-step: create writer, then `writePointCloud` \|
54	\| `velodyneFileReader` \| Create Velodyne PCAP reader \| PCAP \| Mandatory `DeviceModel` (2nd arg) \|
55	\| `ousterFileReader` \| Create Ouster PCAP reader \| PCAP \| Mandatory `Cali

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matlab-point-cloud-file-io

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View on GitHub

How to install matlab-point-cloud-file-io?

matlab/matlab-agentic-toolkit/matlab-point-cloud-file-io

$npx -y skills add matlab/matlab-agentic-toolkit --skill matlab-point-cloud-file-io

Installs into the current project.

Summary

Files · 1

View on GitHub

SKILL.md

1	# Point Cloud File I/O
2
3	Read and write 3-D point cloud data in MATLAB using Lidar Toolbox file I/O functions, covering PLY, PCD, LAS/LAZ, sensor PCAP, E57, and IDC (Ibeo) formats.
4
5	## When to Use
6
7	- Loading a point cloud file from disk into a `pointCloud` object
8	- Saving a `pointCloud` object to disk in any supported format
9	- Deciding which reader or writer function to use for a given file format
10	- Reading LAS/LAZ files with selective filtering (ROI, classification, GPS time)
11	- Extracting or preserving lidar point attributes (classification, GPS timestamps, scan angle)
12	- Reading Velodyne, Ouster, or Hesai PCAP sensor recordings frame-by-frame
13	- Reading multi-scan E57 files with indexed access
14	- Reading Ibeo IDC sensor recordings with message-based access
15	- Converting between point cloud formats (e.g., LAS to PLY, PCD to LAZ)
16
17	## When NOT to Use
18
19	- Streaming live sensor data in real time (use `velodynelidar`, `ousterlidar`, `sicklidar`)
20	- Processing or filtering point clouds after reading (use `pcdownsample`, `pcdenoise`)
21	- Reading or writing surface meshes (use `readSurfaceMesh`, `writeSurfaceMesh`)
22	- Saving point cloud variables to MAT-files (use `save`)
23	- Visualizing point clouds (use `pcshow`, `pcplayer`, `pcviewer`)
24
25	## Must-Follow Rules
26
27	1. Route by file extension, not by habit — `pcread` ONLY supports `.ply` and `.pcd` files. For `.las`/`.laz` use `lasFileReader` + `readPointCloud`. For `.pcap` use the sensor-specific file reader (`velodyneFileReader`, `ousterFileReader`, or `hesaiFileReader`). For `.e57` use `e57FileReader`. Calling `pcread` on a LAS or PCAP file produces an error, not a warning. Similarly, `pcwrite` ONLY writes PLY and PCD — for LAS/LAZ output use `lasFileWriter` + `writePointCloud`.
28
29	2. PCAP file readers require a mandatory device identifier — never guess it — `velodyneFileReader` requires a `DeviceModel` string (e.g., `"HDL32E"`). `hesaiFileReader` requires a `DeviceModel` string (e.g., `"PandarXT32"`). `ousterFileReader` requires a `CalibrationFile` path (JSON). If the user has not specified the device model or calibration file, ASK — do not assume a default. There is no default value; omitting it causes an error.
30
31	3. Use two-output syntax to get point attributes from LAS/LAZ — `[ptCloud, ptAttributes] = readPointCloud(reader)` returns a `lidarPointAttributes` object containing Classification, GPSTimeStamp, LaserReturn, NumReturns, ScanAngle, and more. The single-output form discards these attributes permanently. Intensity is on the `pointCloud` object (`.Intensity` property), NOT on `lidarPointAttributes`.
32
33	4. Preserve attributes with three-argument writePointCloud — `writePointCloud(writer, ptCloud, ptAttributes)` preserves Classification, GPSTimeStamp, and other lidar attributes in LAS/LAZ output. The two-argument form `writePointCloud(writer, ptCloud)` discards all attributes. If the user has attributes from `lasFileReader`/`readPointCloud`, always pass them through.
34
35	5. PLY only supports ascii and binary encoding — Calling `pcwrite(ptCloud, "file.ply", Encoding="compressed")` throws an error. Only `"ascii"` and `"binary"` are valid for PLY. The `"compressed"` encoding is exclusive to PCD format. Defaults (R2026a+): PLY=`"binary"`, PCD=`"compressed"`.
36
37	6. Always use string syntax — Use double-quoted strings (`"text"`) for all literal text arguments (filenames, device models, encoding values, Name=Value values). Use `Name=Value` syntax for all name-value pairs. Never use character vectors (`'text'`) or legacy `'Name','Value'` pair syntax.
38
39	### Preflight Procedure
40
41	1. List MATLAB functions to call
42	2. Check `references/INDEX.md` for each (function-level + task-level tables)
43	3. Read required quick-ref files
44	4. State at response top: `Preflight: quick-ref/xxx.md, quick-ref/yyy.md` (or `Preflight: none required`)
45
46	## Key Functions
47
48	\| Function \| Purpose \| Format \| Key Constraint \|
49	\|---\|---\|---\|---\|
50	\| `pcread` \| Read point cloud from file \| PLY, PCD \| Single call, returns `pointCloud` \|
51	\| `pcwrite` \| Write point cloud to file \| PLY, PCD \| Encoding varies by format \|
52	\| `lasFileReader` \| Create LAS/LAZ reader object \| LAS, LAZ \| Two-step: create reader, then `readPointCloud` \|
53	\| `lasFileWriter` \| Create LAS/LAZ writer object \| LAS, LAZ \| Two-step: create writer, then `writePointCloud` \|
54	\| `velodyneFileReader` \| Create Velodyne PCAP reader \| PCAP \| Mandatory `DeviceModel` (2nd arg) \|
55	\| `ousterFileReader` \| Create Ouster PCAP reader \| PCAP \| Mandatory `Cali

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