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Simulink for PCV (Point Cloud Viewer)

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12 Jun 2012 (Updated )

Simulink for PCV is a block for 3D Point Cloud View and wrapped native OpenCV library.

slpcv.m
%% Point Cloud Viewer (OpenCV)
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% Display point cloud image using OpenCV.
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% Copyright 2012 The MathWorks, Inc.


%% Input Signals
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% * Pause (boolean): Pause point cloud image (1: Pause / 0: Not pause).
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% * Pos (int32): Start position of XYZ and Image input pixel data ([y x]).
% Note that Pos is zero index based. 
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% * XYZ (double): XYZ data of points.
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% * Image (uint8): RGB data of points.
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% * View (double): View point ([x y z]). View input is available when "Set view point by input" block parameter was checked.
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%% Output Signals
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% * Image (uint8): RGB point cloud image. Image is available when "Image output" block parameter was checked.
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%% Block Parameters
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% * Window size: Size of Point Cloud Viewer window
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% * Frame size: Size of XYZ and Image input data ([rows colums]).
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% * Full frame size: Size of whole XYZ and Image data ([rows colums]).
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% * Background color: Background color (R G B).
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% * Look at point: Look at point of point cloud image ([x y z]).  
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% * Set view point by Input: Configure view point is set by an input signal or keyboard input (ON: Input signal / OFF: Keyboard input).
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% Note that when this parameter was OFF, view point can be changed by keyboard input while point cloud display window is active.
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% Note that keyboard input is not case sensitive.  
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% - Press R(r) : Initial view point
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% - Press K(k) : +y
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% - Press J(j) : -y
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% - Press H(h) : +x
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% - Press L(l) : -x
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% - Press I(i)  : +z
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% - Press M(m): -z
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% * Initial view point: Initial view point when "Set view point by Input" parameter was OFF ([x y z]). 
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% * View point step: View point step for keyboard input. Step value has to be greater than zero.
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% * Camera distortion coefficients: The input vector of camera distortion coefficients ([k1 k2 p1 p2 k3]) Zero value means no distortion.
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% * Image output: Configure output of point cloud image (ON: Image output/OFF:No image output).
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