addView

Add views to view set

Since R2020a

Syntax

vSet = addView(vSet,viewId)

vSet = addView(vSet,viewId,absPose)

vSet = addView(___,"PointCloud",ptCloud)

vSet = addView(vSet,viewTable)

Description

vSet = addView(vSet,viewId) adds the view specified by viewId to the view set, vSet.

vSet = addView(vSet,viewId,absPose) specifies the absolute pose of the view.

vSet = addView(___,"PointCloud",ptCloud) specifies the point cloud associated with the view in addition to any of the input argument combinations in previous syntaxes.

vSet = addView(vSet,viewTable) adds one or more views in the table specified by viewTable.

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

Point cloud view set, specified as a pcviewset object.

viewId — View identifier

positive integer

View identifier, specified as a positive integer. View identifiers are unique to a specific view.

absPose — Absolute pose of the view

rigidtform3d object

Absolute pose of the view, specified as a rigidtform3d object.

ptCloud — Point cloud

pointCloud object

Point cloud, specified as a pointCloud object.

viewTable — One or more views

two-column table | three-column table

One or more views, specified as a two-column or three-column table. The table must contain the columns ViewId and AbsolutePose. The Points column is optional.

Column	Description
ViewID	View identifier, specified as an integer. View identifiers are unique to a specific view.
AbsolutePose	Absolute pose of the view, specified as a rigidtform3d object.
Points	Point cloud for the view, specified as a pointCloud object.

Output Arguments

vSet — View set with added views

pcviewset object

View set with added views, 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 R2020a

R2022b: 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 addView 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.