view

Display point cloud

Syntax

``view(player,ptCloud)``
``view(player,xyzPoints)``
``view(player,xyzPoints,color)``
``view(player,xyzPoints,colorMap)``

Description

example

````view(player,ptCloud)` displays a point cloud in the `pcplayer` figure window, `player`. The points, locations, and colors are stored in the `ptCloud` object.```
````view(player,xyzPoints)` displays the points of a point cloud at the locations specified by the `xyzPoints` matrix. The color of each point is determined by the z value.```
````view(player,xyzPoints,color)` displays a point cloud with colors specified by `color`.```
````view(player,xyzPoints,colorMap)` displays a point cloud with colors specified by `colorMap`.```

Examples

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`ptCloud = pcread("teapot.ply");`

Define a rotation matrix and 3-D transform.

```x = pi/180; R = [ cos(x) sin(x) 0 0 -sin(x) cos(x) 0 0 0 0 1 0 0 0 0 1]; tform = affinetform3d(R);```

Compute x, y, and z limits that ensure that the rotated teapot is not clipped.

```lower = min([ptCloud.XLimits ptCloud.YLimits]); upper = max([ptCloud.XLimits ptCloud.YLimits]); xlimits = [lower upper]; ylimits = [lower upper]; zlimits = ptCloud.ZLimits;```

Create the player and customize player axis labels.

```player = pcplayer(xlimits,ylimits,zlimits); xlabel(player.Axes,"X (m)"); ylabel(player.Axes,"Y (m)"); zlabel(player.Axes,"Z (m)");```

Rotate the teapot around the z-axis.

```for i = 1:360 ptCloud = pctransform(ptCloud,tform); view(player,ptCloud); end```

Input Arguments

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Point cloud, specified as a `pointCloud` object. The object contains the locations, intensities, and RGB colors to render the point cloud.

Point Cloud PropertyColor Rendering Result
`Location` only Maps the z-value to a color value in the current color map.
`Location` and `Intensity`Maps the intensity to a color value in the current color map.
`Location` and `Color`Use provided color.
`Location`, `Intensity`, and `Color`Use provided color.

Player for visualizing 3-D point cloud data streams, specified as a `pcplayer` object.

Point cloud x, y, and z locations, specified as either an M-by-3 or an M-by-N-by-3 numeric matrix. The M-by-N-by-3 numeric matrix is commonly referred to as an organized point cloud. The `xyzPoints` numeric matrix contains M or M-by-N [x,y,z] points. The z values in the numeric matrix, which generally correspond to depth or elevation, determine the color of each point.

Color for points in the point cloud, specified as a 1-by-3-RGB vector, an M-by-3 matrix, an M-by-N-by-3 matrix, a short color name, or a long color name. For details on color values, see the Color Value table.

• For `single` or `double` datatype, the `Color` RGB value must be specified in the range [0, 1].

• For `uint8` datatype, the `Color` RGB value must be specified in the range [0, 255].

• The function stores the `Color` value as either an M-by-3 or M-by-N-by-3. If you specify the color as a string or a 1-by-3 vector, the function converts it to one of these dimensions.

ColorFormatExample
Specify one color for all points

short or long color name

`"r"`

`"red"`

1-by-3 vector (RGB triplet)

`[255 0 0]`

Specify a color for each point

cell array of character vectors

`["red","yellow","blue"]`

M-by-3 matrix, as a list of RGB values

```255 0 0 255 0 0 0 255 255```

M-by-N-by-3 matrix for an organized point cloud containing RGB values for each point, where M-by-N is the dimension of the point cloud.

Point cloud color map for points, specified as one of:

• M-by-1 vector

• M-by-N matrix

Points InputColor SelectionValid Values of `C`
`xyzPoints`Different color for each pointVector or M-by-N matrix. The matrix must contain values that are linearly mapped to a color listed in the current `colormap`.

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Color Value

Color NameShort NameRGB TripletAppearance
`"red"``"r"``[1 0 0]`

`"green"``"g"``[0 1 0]`

`"blue"``"b"``[0 0 1]`

`"cyan"` `"c"``[0 1 1]`

`"magenta"``"m"``[1 0 1]`

`"yellow"``"y"``[1 1 0]`

`"black"``"k"``[0 0 0]`

`"white"``"w"``[1 1 1]`

Version History

Introduced in R2015b