Create a cuboid model object using the cuboidModel creation function, and get the corner points of the cuboid model as 3-D coordinates.

Read point cloud data into the workspace.

ptCloudIn = pcread('highwayScene.pcd');

Define a cuboid model as a cuboidModel object.

params = [11.4873085 8.59969 -1.613766 3.6712 1.3220,...
    1.75755 0 0 0.017451];
model = cuboidModel(params);

Get the corner points of the cuboid model.

points = getCornerPoints(model)

points = 8×3

   13.3227    9.2612   -0.7350
    9.6515    9.2601   -0.7350
    9.6519    7.9381   -0.7350
   13.3231    7.9392   -0.7350
   13.3227    9.2612   -2.4925
    9.6515    9.2601   -2.4925
    9.6519    7.9381   -2.4925
   13.3231    7.9392   -2.4925

The columns represent the x, y, and z coordinates, respectively, of the eight corners of the cuboid model. Each row represents a corner point.