pcshowpair

Visualize difference between two point clouds

Syntax

pcshowpair(ptCloudA,ptCloudB)

pcshowpair(ptCloudA,ptCloudB,Name,Value)

ax = pcshowpair(___)

Description

pcshowpair(ptCloudA,ptCloudB) creates a visualization depicting the differences between the two input point clouds. The differences are displayed using a blending of magenta for point cloud A and green for point cloud B.

pcshowpair(ptCloudA,ptCloudB,Name,Value) visualizes the differences using additional options specified by one or more Name,Value pair arguments.

ax = pcshowpair(___) returns the plot axes to the visualization of the differences, using any of the preceding syntaxes.

Examples

Visualize the Difference Between Two Point Clouds

Load two point clouds that were captured using a Kinect device in a home setting.

load('livingRoom');

pc1 = livingRoomData{1};
pc2 = livingRoomData{2};

Plot and set the viewpoint of point clouds.

figure
pcshowpair(pc1,pc2,'VerticalAxis','Y','VerticalAxisDir','Down')
title('Difference Between Two Point Clouds')
xlabel('X(m)')
ylabel('Y(m)')
zlabel('Z(m)')

Input Arguments

ptCloudA — Point cloud

pointCloud object

Point cloud A, specified as a pointCloud object. The function uses levels of magenta to represent ptCloudA and a pure magenta when the point cloud contains no color information.

ptCloudB — Point cloud

pointCloud object

Point cloud B, specified as a pointCloud object. The function uses levels of green to represent ptCloudB and a pure green when the point cloud contains no color information.

Name-Value Arguments

Specify optional comma-separated pairs of Name,Value arguments. Name is the argument name and Value is the corresponding value. Name must appear inside quotes. You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN.

Example: 'VerticalAxisDir','Up' sets the vertical axis direction to up.

MarkerSize — Diameter of marker

6 (default) | positive scalar

Approximate diameter of the point marker, specified as a positive scalar. The units are in points. A marker size larger than six can reduce the rendering performance.

BackgroundColor — Background color

[0 0 0] (black) (default) | RGB triplet | hexadecimal color code | character vector

Background color, specified as an RGB triplet, hexadecimal color code, or a character vector that specifies a long or short color name.

VerticalAxis — Vertical axis

'Z' (default) | 'X' | 'Y'

Vertical axis, specified as 'X', 'Y', or 'Z'. When you reload a saved figure, any action on the figure resets the vertical axis to the z-axis.

VerticalAxisDir — Vertical axis direction

'Up' (default) | 'Down'

Vertical axis direction, specified as 'Up' or 'Down'. When you reload a saved figure, any action on the figure resets the direction to the up direction.

Parent — Axes on which to display the visualization

axes graphics object

Axes on which to display the visualization, specified as an Axes object. To create an Axes object, use the axes function. To display the visualization in a new figure, leave 'Parent' unspecified.

Output Arguments

ax — Plot axes

axes graphics object

Plot axes, returned as an axes graphics object. Points with NaN or Inf coordinates are not displayed.

You can set the default center of rotation for the point cloud viewer to rotate around the axes center or around a point. Set the default behavior from the Computer Vision Toolbox Preferences.

Tips

• To improve performance, pcshowpair automatically downsamples the rendered point cloud during interaction with the figure. The downsampling occurs only for rendering the point cloud and does not affect the saved points.

• To view point data or modify color display values, hover over the axes toolbar and select one of the following options.

  Feature	Description
  Datatip	Click Data Tips to view the data point values for any point in the point cloud figure. For a normal point cloud, the Data Tips displays the x,y,z values. Additional data properties for the depth image and lidar are: Point Cloud Data Data Value Properties Depth image (RGB-D sensor) Color, row, column Lidar Intensity, range, azimuth angle, elevation angle, row, column
  Background color	Click Rotate and then right-click in the figure for background options.
  Colormap value	Click Rotate and then right-click in the figure for colormap options. You can modify colormap values for the coordinate and range values available, depending on the type of point cloud displayed.
  View	Click Rotate to change the viewing angle of the point cloud figure to the XZ, ZX,YZ, ZY, XY, or the YX plane. Click Restore View to reset the viewing angle.

• pcshowpair supports the 'opengl' option for the Renderer figure property only.