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view

Display point cloud

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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Load point cloud.

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 = affine3d(R);

Compute x-_y_ 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)');

Figure Point Cloud Player contains an axes. The axes contains an object of type scatter.

Rotate the teapot around the z-axis.

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

Figure Point Cloud Player contains an axes. The axes contains an object of type scatter.

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 IntensityMaps the intensity to a color value in the current color map.
Location and ColorUse provided color.
Location, Intensity, and ColorUse 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.

Point cloud color of points, specified as one of:

  • 1-by-3 RGB vector

  • short name of a MATLAB® ColorSpec color, such as 'b'

  • long name of a MATLAB ColorSpec color, such as 'blue'

  • M-by-3 matrix

  • M-by-N-by-3 matrix

You can specify the same color for all points or a different color for each point. When you set color to single or double, the RGB values range between [0, 1]. When you set color to uint8, the values range between [0, 255].

Points InputColor SelectionValid Values of C
xyzPointsSame color for all points

1-by-3 RGB vector, or the short or long name of a MATLAB ColorSpec color

Different color for each pointM-by-3 matrix or M-by-N-by-3 matrix containing RGB values for each point.

Point cloud color of points, specified as one of:

  • M-by-1 vector

  • M-by-N matrix

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

Introduced in R2015b