updateView
Syntax
Description
Examples
Update View in Point Cloud View Set
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
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
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 object. |
Points | A pointCloud . |
Output Arguments
vSet
— View set with updated view
pcviewset
object
View set with updated view, returned as a pcviewset
object.
Extended Capabilities
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).
Version History
Introduced in R2020aR2022b: 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
objects, which use the premultiply convention.
Although you can still specify poses as rigid3d
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.
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