view

Display point cloud

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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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View Rotating 3-D Point Cloud

Open Live Script

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)');

{"String":"Figure Point Cloud Player contains an axes object. The axes object contains an object of type scatter.","Tex":[],"LaTex":[]}

Rotate the teapot around the z-axis.

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

{"String":"Figure Point Cloud Player contains an axes object. The axes object contains an object of type scatter.","Tex":[],"LaTex":[]}

Input Arguments

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`ptCloud` — Point cloud
`pointCloud` object

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

Point Cloud Property	Color 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` — Player
`pcplayer` object

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

`xyzPoints` — Point cloud x, y, and z locations
M-by-3 numeric matrix | M-by-N-by-3 numeric matrix

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` — Color for points in the point cloud
1-by-3 RGB vector | short name of color | long name of color | M-by-3 matrix | M-by-N-by-3 matrix

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.

Color	Format	Example
Specify one color for all points	short or long color name	`"r"` `"red"`
Specify one color for all points	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.

`colorMap` — Point cloud color map for points
M-by-1 vector | M-by-N matrix

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

M-by-1 vector
M-by-N matrix

Points Input Color Selection Valid Values of C

Points Input	Color Selection	Valid Values of `C`
`xyzPoints`	Different color for each point	Vector or M-by-N matrix. The matrix must contain values that are linearly mapped to a color listed in the current `colormap`.

xyzPoints

Different color for each point

Vector or M-by-N matrix. The matrix must contain values that are linearly mapped to a color listed in the current colormap.

More About

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Color Value

Color Name	Short Name	RGB Triplet
`"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]`