pctransform

R2026b

Transform 3-D point cloud

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Syntax

ptCloudOut = pctransform(ptCloudIn,tform)
ptCloudOut = pctransform(ptCloudIn,D)

Description

ptCloudOut = pctransform(ptCloudIn,tform) applies the specified 3-D affine transform, tform to the point cloud, ptCloudIn. The transformation can be a rigid, similarity, or affine transformation.

example

ptCloudOut = pctransform(ptCloudIn,D) applies the displacement field D to the point cloud. Point cloud transformation using a displacement field define translations with respect to each point in the point cloud.

example

Examples

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Open Live Script

Read a point cloud.

ptCloud = pcread('teapot.ply');

Plot the point cloud.

figure
pcshow(ptCloud)
xlabel('X')
ylabel('Y')
zlabel('Z')

Figure contains an axes object. The axes object with xlabel X, ylabel Y contains an object of type scatter.

Create a transformation object with a 45 degree rotation along the z-axis. 

rotationAngles = [0 0 45];
translation = [0 0 0];
tform = rigidtform3d(rotationAngles,translation);

Transform the point cloud.

ptCloudOut = pctransform(ptCloud,tform);

Plot the transformed point cloud.

figure
pcshow(ptCloudOut)
xlabel('X')
ylabel('Y')
zlabel('Z')

Figure contains an axes object. The axes object with xlabel X, ylabel Y contains an object of type scatter.

This example uses:

Open Live Script

This example applies a rigid transformation (rotation) and a nonrigid transformation (shear) to a 3-D point cloud.

Read a point cloud into the workspace.

ptCloud = pcread('teapot.ply');

Plot the original 3-D point cloud.

figure1 = figure;
axes1 = axes(Parent=figure1);
pcshow(ptCloud,Parent=axes1,AxesVisibility='on'); 
xlabel('X');
ylabel('Y');
zlabel('Z');
title('3-D Point Cloud',FontSize=14)

Figure contains an axes object. The axes object with title 3-D Point Cloud, xlabel X, ylabel Y contains an object of type scatter.

Rotation of 3-D Point Cloud

Create a rigid transformation object that defines a 45 degree rotation along the z-axis. 

rotationAngles = [0 0 45];
translation = [0 0 0];
tform = rigidtform3d(rotationAngles,translation);

Transform the point cloud.

ptCloudOut1 = pctransform(ptCloud,tform);

Plot the rotated point cloud.

figure2 = figure;
axes2 = axes(Parent=figure2);
pcshow(ptCloudOut1,Parent=axes2,AxesVisibility='on');
xlabel('X');
ylabel('Y');
zlabel('Z');
title({'Rotation of 3-D Point Cloud'},FontSize=14)

Figure contains an axes object. The axes object with title Rotation of 3-D Point Cloud, xlabel X, ylabel Y contains an object of type scatter.

Shearing of 3-D Point Cloud

Create an affine transformation object that defines shearing along the x-axis. 

A = [1 0.75 0.75 0; ...
     0   1    0  0; ...
     0   0    1  0; ...
     0   0    0  1];
tform = affinetform3d(A);

Transform the point cloud.

ptCloudOut2 = pctransform(ptCloud,tform);

Plot the transformed point cloud.

figure3 = figure;
axes3 = axes(Parent=figure3);
pcshow(ptCloudOut2,Parent=axes3,AxesVisibility='on');
xlabel('X');
ylabel('Y');
zlabel('Z');
title({'Shearing of 3-D Point Cloud'},FontSize=14)

Figure contains an axes object. The axes object with title Shearing of 3-D Point Cloud, xlabel X, ylabel Y contains an object of type scatter.

This example uses:

Open Live Script

Read a point cloud into the workspace.

ptCloud = pcread('teapot.ply');

Create a displacement field D of same size as the point cloud. 

D = zeros(size(ptCloud.Location));

Set the displacement field value along x-axis for the first half of the points to 7.

pthalf = ptCloud.Count/2;
D(1:pthalf,1) = 7;

Extract the indices of points within a region-of-interest (ROI) using the pointCloud method findNeighborsInRadius. Set the displacement field value along the x-, y-, and z-axis for points within the ROI to 4, 4, and -2, respectively. 

indices = findNeighborsInRadius(ptCloud,[0 0 3.1],1.5);
D(indices,1:2) = 4;
D(indices,3) = -2;

Transform the point cloud using the displacement field.

ptCloudOut = pctransform(ptCloud,D);

Display the original and transformed point cloud.

figure
pcshow(ptCloud)
xlabel('X');
ylabel('Y');
zlabel('Z');
title('Original 3-D Point Cloud')

Figure contains an axes object. The axes object with title Original 3-D Point Cloud, xlabel X, ylabel Y contains an object of type scatter.

figure
pcshow(ptCloudOut)
xlabel('X');
ylabel('Y');
zlabel('Z');
title('Transformed 3-D Point Cloud Using Displacement Field')

Figure contains an axes object. The axes object with title Transformed 3-D Point Cloud Using Displacement Field, xlabel X, ylabel Y contains an object of type scatter.

Input Arguments

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Point cloud, specified as a pointCloud object.

3-D geometric transformation, specified as a rigidtform3d (Image Processing Toolbox), simtform3d (Image Processing Toolbox), or affinetform3d (Image Processing Toolbox) object. See Specify Transformation Matrix (Image Processing Toolbox) for details on how to set up an affine 3-D tform input.

Displacement field, specified as either M-by-3 or an M-by-N-by-3 array. The displacement field is a set of displacement vectors that specify the magnitude and direction of translation for each point in the point cloud. The size of the displacement field must be the same as the size of the Location property of the pointCloud object.

Data Types: single | double

Output Arguments

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Transformed point cloud, returned as a pointCloud object. The transformation applies to the coordinates of points and their normal vectors.

Extended Capabilities

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C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2015a

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See Also

Objects

Functions

Topics