view

Display point cloud

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

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	Appearance
"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
	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