showShape

Display shapes on image, video, or point cloud

Since R2020b

Syntax

showShape(shape,position)

showShape(___,Name=Value)

Description

showShape(shape,position) displays one or more instances of a shape shape in the current axes at the specified locations position.

showShape(___,Name=Value) specifies options using one or more name-value arguments in addition to the input arguments from the previous syntax. For example, Color="yellow" sets the color for the shapes to yellow.

Examples

Display Detected Objects in Image

Read an image into the workspace.

I = imread("visionteam1.jpg");

Create an aggregate channel features (ACF) people detector.

detector = peopleDetectorACF

detector = 
  acfObjectDetector with properties:

             ModelName: 'inria-100x41'
    ObjectTrainingSize: [100 41]
       NumWeakLearners: 2048

Detect people in the image.

[bboxes,scores] = detect(detector,I);

Display the image with a labeled rectangle around each detected person. Display the associated detection score around each detected person.

figure
imshow(I)
labels = "person:" + scores;
showShape("rectangle",bboxes,Label=labels)

Display Bounding Box Around Object in Point Cloud

Read point cloud data into the workspace.

ptCloud = pcread("teapot.ply");

Display the point cloud data.

figure
pcshow(ptCloud)
xlabel("X")
ylabel("Y")
zlabel("Z")

Define a cuboid and display it in green with an opacity of 0.5.

pos = [0.3753 0 1.65 6 4 3 0 0 0];
showShape("cuboid",pos,Color="green",Opacity=0.5)

Visualize Cuboid Around Moving Object in Point Cloud Stream

Read point cloud data into the workspace.

ptCloud = pcread("teapot.ply");

Define a rotation matrix and 3-D transform to rotate the point cloud, and an associated cuboid, by 5 degrees.

rot = 5;
R = [ cosd(rot) sind(rot) 0 0; ...
     -sind(rot) cosd(rot) 0 0; ...
      0       0           1 0; ...
      0       0           0 1];
  
tform = affine3d(R);

Compute the x and y rendered limits of the point cloud, to ensure that you do not clip the point cloud during rotation.

pcLimits = abs([ptCloud.XLimits ptCloud.YLimits]);
maxLimit = max(pcLimits);

Add a margin to the plot to prevent the rotation from clipping the cuboid.

margin = 1;
maxLimit = maxLimit + margin;

xlimits = [-maxLimit maxLimit];
ylimits = [-maxLimit maxLimit];
zlimits = ptCloud.ZLimits;

Create a player for visualizing the point cloud.

player = pcplayer(xlimits,ylimits,zlimits);

Customize the player axes labels.

xlabel(player.Axes,"X (m)");
ylabel(player.Axes,"Y (m)");
zlabel(player.Axes,"Z (m)");

Define a cuboid around the point cloud.

cuboidPosition = [0.3753 0 1.65 6 4 3 0 0 0];

Define the output view for a cuboid rotation. Use the same limits as the player so that the view does not clip the cuboid. Then, display the rotated point cloud and cuboid.

gridSize = [1 1 1];
ref = imref3d(gridSize,xlimits,ylimits,zlimits);

for i = 1:round((360/rot))
    % Rotate the point cloud.
    ptCloud = pctransform(ptCloud,tform);
    
    % Rotate the cuboid.
    cuboidPosition = bboxwarp(cuboidPosition,tform,ref);
    
    % Show the rotated point cloud data.
    view(player,ptCloud)
    
    % Show the rotated cuboid.
    showShape("cuboid",cuboidPosition, ...
        Parent=player.Axes, ...
        Color="green", ...
        Opacity=0.5)
    
    % Use drawnow to synchronize the point cloud and shape visualizations.
    drawnow
end

Input Arguments

shape — Type of shape

"rectangle" | "line" | "polygon" | "circle" | "cuboid" | "projected-cuboid"

Type of shape, specified as "rectangle", "line", "polygon", "circle", "cuboid"or "projected-cuboid".

Data Types: char

position — Positions and sizes of shapes

matrix | vector | cell array

Position of shape, specified according to the type of shape, as described in the table.

Shape	Position	Example
rectangle	For one or more axis-aligned rectangles, specify as an M-by-4 numeric matrix, where each row specifies a rectangle of the form $$\left[\begin{array}{cccc}x& y& width& height\end{array}\right]$$. M is the number of axis-aligned rectangles. x and y specify the upper-left corner of the rectangle. w specifies the width of the rectangle, which is its length along the x-axis. h specifies the height of the rectangle, which is its length along the y-axis. $$\left[\begin{array}{cccc}{x}_1& y_1& widt{h}_1& heigh{t}_1\\ x_2& y_2& widt{h}_2& heigh{t}_2\\ ⋮& ⋮& ⋮& ⋮\\ x_M& y_M& widt{h}_M& heigh{t}_M\end{array}\right]$$
	For one or more rotated rectangles, specify in spatial coordinates as an M-by-5 numeric matrix, where each row specifies a rotated rectangle of the form [xctr yctr w h yaw]. M is the number of rotated rectangles. xctr and yctr specify the center of the rectangle. w specifies the width of the rectangle, which is its length along the x-axis before rotation. h specifies the height of the rectangle, which is its length along the y-axis before rotation. yaw specifies the rotation angle in degrees. The rotation is clockwise-positive around the center of the rectangle.
cuboid	For one or more cuboids, specify in spatial coordinates as an M-by-9 numeric matrix where each row specifies a cuboid of the form [xctr yctr zctr xlen ylen zlen xrot yrot zrot], where M is the number of cuboids. xctr, yctr, and zctr specify the center of the cuboid. xlen, ylen, and zlen specify the length of the cuboid along the x-axis, y-axis, and z-axis, respectively, before rotation. xrot, yrot, and zrot specify the rotation angles of the cuboid around the x-axis, y-axis, and z-axis, respectively. The xrot, yrot, and zrot rotation angles are in degrees about the cuboid center. Each rotation is clockwise-positive with respect to the positive direction of the associated spatial axis. The function computes rotation matrices assuming ZYX order Euler angles [xrot yrot zrot].
circle	For one or more circles, specify spatial coordinates as an M-by-3 numeric matrix, where each row specifies a circle of the form [xctr yctr radius]. M is the number of circles. xctr and yctr specify the center of the circle. radius specifies the radius of the circle. $$\left[\begin{array}{ccc}xct{r}_1& yct{r}_1& radiu{s}_1\\ xct{r}_2& yct{r}_2& radiu{s}_2\\ ⋮& ⋮& ⋮\\ xct{r}_M& yct{r}_M& radiu{s}_M\end{array}\right]$$
line	For one or more lines, specify spatial coordinates using one of these formats to specify a single line with connected endpoints, multiple lines with the same number of endpoints, or multiple lines with different numbers of endpoints. Single lines with connected endpoints — Specify as a P-by-2 matrix, where each row specifies an endpoint in the form [x y], and the endpoint in one row connects directly to the endpoint in the next. P is the number of endpoints in the line. Multiple lines with the same number of endpoints — Specify as an M-by-2P matrix, where each row specifies the consecutive endpoints of a single line in the form [x1 y1 x2 y2 ... xp yp]. Each [x y] pair is the coordinates of a single endpoint. M is the number of specified lines, and P is the number of endpoints per line. Multiple lines with different numbers of endpoints — Specify as an M-by-1 cell array, where each cell contains the endpoints for a single line as a P-by-2 matrix or a 1-by-2P vector]. M is the number of specified lines, and P is the number of endpoints for each line
polygon	For one or more polygons, specify in spatial coordinates as an M-by-1 cell array, where each cell contains an L-by-2 matrix of [x y] vertex locations or a 1-by-2L vector of consecutive vertex locations of the form [x1, y1, x2,y2, … xL,yL ]. M is the number of polygons. Each [x y] pair describes a vertex location or endpoint. L is the number of vertices in a polygon or endpoints in a line. Each polygon or line can have a different number of vertices or endpoints.
projected-cuboid	For one or more projected cuboids, specify in spatial coordinates as an 8-by-2-by-M array or an M-by-8 matrix, where M is the number of projected cuboids. When specified as an 8-by-2-by-M array, each row must contain the [x y] location of a projected cuboid vertex. The vertices connect to form a cuboid with six faces. The order of the input vertices must match the order shown in the diagram. When specified as an M-by-8 matrix, each row specifies the dimensions of the front-facing and rear-facing sides of a projected cuboid in the form, [x1 y1 w1 h1 x2 y2 w2 h2], where [x1 y1] and [x2 y2] specify the upper-left coordinates of the front-facing and rear-facing sides, respectively, and [w1 h1] and [w2 h2] specify the corresponding widths and heights.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: showShape("rectangle",bboxes,Color="yellow") sets the color for the shapes to yellow.

Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

Example: showShape("rectangle",bboxes,"Color","yellow") sets the color for the shapes to yellow.

Label — Shape label

[] (default) | scalar | M-element vector | M-element cell array of character vectors

Shape label, specified as a scalar, M-element vector, or an M-element cell array of character vectors, where M is the number of shapes.

If the input is a scalar value, then the function applies the label to each shape. If the input is an M-element vector or cell array, then the function applies the unique label to the corresponding shape, using the order in which you specify the shapes to the function.

Color — Shape color

"green" (default) | short color name | color name | vector of color names | three-column matrix of RGB triplets

Shape color, specified as a short color name, color name, vector of color names, three-column matrix of RGB triplets.

The supported colors table lists RGB intensities in the range [0, 1], but you must specify RGB triplets in the range of your selected data type. For example, if specifying this argument as a matrix of uint8 values, you must convert each intensity value to the range [0, 255]. To convert the listed intensity values to a uint8 data type, use the code uint8(255*intensity), where intensity is an RGB triplet value listed in the table.

You can specify a different color for each shape or one color for all shapes. To specify one color for all markers, specify Color as a color name or an [R G B] vector.

Specification	Format	Example
Specify one color for all shapes (or markers)	Short color name or color name	"r" "red"
	RGB triplet	[1 0 0]
Specify a color for each shape (or marker)	Vector of color names	["red","yellow","blue"]
	Three-column matrix of RGB triplets	[1 0 0 0 1 1 1 0 1 1 1 1]

This table lists the supported shape colors.

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]

Data Types: logical | uint8 | uint16 | int16 | double | single | cell

Opacity — Opacity of shape fill

0 (default) | scalar in range [0 1] | M-element vector of values in range [0 1]

Opacity of the shape fill, specified as a scalar or M-element vector of numeric values in the range [0 1], where M is the number of shapes. To use the same opacity for all shapes, specify a scalar opacity value. For a fully opaque shape fill, specify Opacity as 1.

Parent — Output axes

gca (default) | Axes graphics object

Output axes, specified as an Axes graphics object. For more information on Axes object properties, see Axes Properties.

LineColor — Shape border line color

"auto" (default) | one or more RGB triplets | one or more color names or short color names

Shape border line color, specified as a short color name, color name, vector of color names, three-column matrix of RGB triplets.

The supported colors table lists RGB intensities in the range [0, 1], but you must specify RGB triplets in the range of your selected data type. For example, if specifying this argument as a matrix of uint8 values, you must convert each intensity value to the range [0, 255]. To convert the listed intensity values to a uint8 data type, use the code uint8(255*intensity), where intensity is an RGB triplet value listed in the table.

You can specify a different color for each shape or one color for all shapes. To specify one color for all markers, specify LineColor as a color name or an [R G B] vector.

LineWidth — Border line width

"auto" (default) | positive scalar integer | M-element vector of positive integers

Border line width in pixels, specified as a positive integer or an M-element vector of positive integers, where M is the number of shapes. To use the same line width for all shapes, specify a scalar positive integer. Otherwise, specify an M-element vector of positive integers.

LineOpacity — Border line opacity of shape

0 (default) | M-element vector of values in the range [0 1]

Border line opacity of shape, specified as a scalar or M-element vector of numeric values in the range [0 1], where M is the number of shapes. To use the same opacity for all shapes, specify a scalar opacity value. For a fully opaque shape fill, specify Opacity as 1.

LabelTextColor — Label text color

"black" (default) | one or more RGB triplets | one or more color names or short color names

Label text color, specified as a short color name, color name, vector of color names, three-column matrix of RGB triplets.

The supported colors table lists RGB intensities in the range [0, 1], but you must specify RGB triplets in the range of your selected data type. For example, if specifying this argument as a matrix of uint8 values, you must convert each intensity value to the range [0, 255]. To convert the listed intensity values to a uint8 data type, use the code uint8(255*intensity), where intensity is an RGB triplet value listed in the table.

You can specify a different color for each label or one color for all labels. To specify one color for all markers, specify LabelTextColor as a color name or an [R G B] vector.

LabelOpacity — Label opacity

0 (default) | M-element vector of values in the range [0 1]

Label opacity of shape, specified as a scalar or M-element vector of numeric values in the range [0 1], where M is the number of shapes. To use the same opacity for all labels, specify a scalar opacity value. For a fully opaque shape fill, specify Opacity as 1.

LabelFont — Label font

"Helvetica" (default) | "FixedWidth" | supported font

Label font, specified as "FixedWidth" or a font that your system supports. To display and print text properly, you must select a font that your system supports. If you select an unsupported font, the function returns an error. If you specify "FixedWidth", the function uses the font specified by the FixedWidthFont property of the Root Properties object. The fixed-width font relies on the value of get(0,"FixedWidthFontName").

LabelFontSize — Label font size

12 (default) | positive scalar

Label font size in points, specified as a positive scalar.

ShowOrientation — Original orientation indicator

true or 1 (default) | false or 0

Original orientation indicator, specified as a numeric or logical 1 (true) or 0 (false). A value of 1 (true) displays the original orientation of the rotated rectangle by using an arrow annotation on the bounding box. The original orientation is defined as a zero rotation angle. A value of 0 (false) does not show the arrow annotation. The ShowOrientation name-value argument applies only to rotated rectangles.

Data Types: logical | integer

Version History

Introduced in R2020b

R2023b: Rotated rectangle support for bounding box

You can specify a rotated rectangle bounding box using the form [xctr yctr width height yaw].

R2022b: Visualize projected cuboids

Added support to visualize projected cuboids.

R2022a: Bounding Box Coordinates: Data augmentation for object detection using spatial coordinates

The bboxresize, bboxcrop, bboxwarp, and showShape functions assume the input bounding box coordinates for axis-aligned rectangles are specified in spatial coordinates and return the transformed bounding boxes in spatial coordinates.