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view

Display point cloud

Description

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.

Input Arguments

collapse all

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:

  • RGB triplet

  • A color name or a short name

  • M-by-3 matrix

  • M-by-N-by-3 matrix

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

Sample of the color red

"green""g"[0 1 0]

Sample of the color green

"blue""b"[0 0 1]

Sample of the color blue

"cyan" "c"[0 1 1]

Sample of the color cyan

"magenta""m"[1 0 1]

Sample of the color magenta

"yellow""y"[1 1 0]

Sample of the color yellow

"black""k"[0 0 0]

Sample of the color black

"white""w"[1 1 1]

Sample of the color white

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 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.

Version History

Introduced in R2020b