view

Display point cloud

Since R2020b

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Syntax

view(player,ptCloud)

view(player,xyzPoints)

view(player,xyzPoints,color)

view(player,xyzPoints,colorMap)

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

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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` — Point cloud color
1-by-3 RGB vector | short name of color | long name of color | M-by-3 matrix | M-by-N-by-3 matrix

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 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]`

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 Input	Color Selection	Valid Values of `C`
`xyzPoints`	Same color for all points	1-by-3 RGB vector, or the short or long name of a color
`xyzPoints`	Different color for each point	M-by-3 matrix or M-by-N-by-3 matrix containing RGB values for each point.

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

Point cloud color of points, specified as one of:

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

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 in the current `colormap`.

Version History

Introduced in R2020b

view

Syntax

Description

Input Arguments

ptCloud — Point cloud pointCloud object

player — Player pcplayer object

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

color — Point cloud color 1-by-3 RGB vector | short name of color | long name of color | M-by-3 matrix | M-by-N-by-3 matrix