updateView

R2026b

Update view in view set

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Syntax

vSet = updateView(vSet,viewId,absPose)

vSet = updateView(___,"PointCloud",ptCloud)

vSet = updateView(vSet,viewTable)

Description

vSet = updateView(vSet,viewId,absPose) updates the view specified by viewId with the absolute pose absPose.

example

vSet = updateView(___,"PointCloud",ptCloud) specifies the point cloud associated with the view.

vSet = updateView(vSet,viewTable) updates the views specified in the table viewTable.

Examples

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Update View in Point Cloud View Set

Open Live Script

Create an empty point cloud view set.

vSet = pcviewset;

Add a view to the point cloud view set.

viewId  = 1;
ptCloud = pcread("teapot.ply");

vSet = addView(vSet,viewId,"PointCloud",ptCloud);

Update the absolute pose of the view.

rotationAngles = [0 0 0];
translation = [2 0 0];
absPose = rigidtform3d(rotationAngles,translation);
vSet = updateView(vSet,viewId,absPose);

Input Arguments

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`vSet` — Point cloud view set
`pcviewset` object

View set, specified as an pcviewset object.

`viewId` — View identifier
integer

Point cloud view identifier, specified as a unique integer.

`absPose` — Absolute pose
`rigidtform3d` object

Absolute pose, specified as a rigidtform3d (Image Processing Toolbox) object.

`ptCloud` — Point cloud
`pointCloud` object

Point cloud, specified as a pointCloud object.

`viewTable` — New view or set of views
two-column table | three-column table

New view or set of views, specified as a two- or three- column table. The table must contain the columns ViewId and AbsolutePose, and an optional column, Points.

Column	Description
`ViewID`	View identifier for the view, specified as a unique integer
`AbsolutePose`	Absolute pose of the view, specified as a `rigidtform3d` (Image Processing Toolbox) object.
`Points`	A `pointCloud`.

Output Arguments

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`vSet` — View set with updated view
`pcviewset` object

View set with updated view, returned as a pcviewset object.

Extended Capabilities

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

When you specify table as an input argument, then code generation has limitations. For information about the limitations, see Code Generation for Tables (MATLAB Coder) and Table Limitations for Code Generation (MATLAB Coder).

GPU Code Generation
Generate CUDA® code for NVIDIA® GPUs using GPU Coder™.

Refer to the usage notes and limitations in the C/C++ Code Generation section. The same usage notes and limitations apply to GPU code generation.

Version History

Introduced in R2020a

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R2026b: Moved to Point Cloud Toolbox from Computer Vision Toolbox

Starting in R2026b, updateView is available in Point Cloud Toolbox™. In releases R2026a and before, updateView is available in Computer Vision Toolbox™.

R2022b: Supports premultiply geometric transformation convention

Starting in R2022b, most Computer Vision Toolbox functions create and perform geometric transformations using the premultiply convention. Accordingly, you can now specify poses (the absPose argument and the AbsolutePose column of the viewTable argument) as rigidtform3d (Image Processing Toolbox) objects, which use the premultiply convention.

Although you can still specify poses as rigid3d (Image Processing Toolbox) objects, these objects are not recommended because they use the postmultiply convention. The updateView function automatically converts the poses to the premultiply convention and returns a pcviewset object that represents the poses as rigidtform3d objects.

For more information, see Migrate Geometric Transformations to Premultiply Convention (Image Processing Toolbox).

updateView

Syntax

Description

Examples

Update View in Point Cloud View Set

Input Arguments

`vSet` — Point cloud view set
`pcviewset` object

`viewId` — View identifier
integer

`absPose` — Absolute pose
`rigidtform3d` object

`ptCloud` — Point cloud
`pointCloud` object

`viewTable` — New view or set of views
two-column table | three-column table

Output Arguments

`vSet` — View set with updated view
`pcviewset` object

Extended Capabilities

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

GPU Code Generation
Generate CUDA® code for NVIDIA® GPUs using GPU Coder™.

Version History

R2026b: Moved to Point Cloud Toolbox from Computer Vision Toolbox

R2022b: Supports premultiply geometric transformation convention

See Also

Objects

updateView

Syntax

Description

Examples

Update View in Point Cloud View Set

Input Arguments

vSet — Point cloud view set pcviewset object

viewId — View identifier integer

absPose — Absolute pose rigidtform3d object

ptCloud — Point cloud pointCloud object

viewTable — New view or set of views two-column table | three-column table

Output Arguments

vSet — View set with updated view pcviewset object

Extended Capabilities

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

GPU Code Generation Generate CUDA® code for NVIDIA® GPUs using GPU Coder™.

Version History

R2026b: Moved to Point Cloud Toolbox from Computer Vision Toolbox

R2022b: Supports premultiply geometric transformation convention

See Also

Objects

`vSet` — Point cloud view set
`pcviewset` object

`viewId` — View identifier
integer

`absPose` — Absolute pose
`rigidtform3d` object

`ptCloud` — Point cloud
`pointCloud` object

`viewTable` — New view or set of views
two-column table | three-column table

`vSet` — View set with updated view
`pcviewset` object

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

GPU Code Generation
Generate CUDA® code for NVIDIA® GPUs using GPU Coder™.