How do I directly covert a depth image to 3-D point cloud?

Question

John Wray 2016-5-26

2
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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/285895-how-do-i-directly-covert-a-depth-image-to-3-d-point-cloud

编辑： DGM 2023-2-20

Hi,

I could use pcfromkinect() function to convert depth data from kinect device into 3-D cloud points.

But how could I convert the depth matrix that had already extracted from kinect into 3-D cloud points ?

I mean, pcfromkinect() seems only works from device to 3d points cloud, not matrix to cloud.

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jenny jenny 2017-10-15

did you get the answer, because i have the same problem

Simon Cool 2018-1-23

移动：DGM 2023-2-20

Same problem!

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Answer 1

Marten J 2018-11-5

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此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/285895-how-do-i-directly-covert-a-depth-image-to-3-d-point-cloud#answer_345249

在 MATLAB Online 中打开

I had the same problem. I could solve it through a double for-loop... but it's not the most efficient way:

if true
A = double(depthImage);
n=0;
[s1 s2] = size(A);
for i = 1:s1
  for j = 1:s2
      n = n+1;
      Punkte(n,1) = i;
      Punkte(n,2) = j;
      Punkte(n,3) = A(i,j);     
  end
end
end

so I calculated the depthImage in the Pointcloud matrix [x-vector, y-vector, z-vector] but it takes some time.

Also only the Z-Value is in the metric system... the x and y- values stay in the Pixel system... to transform then in the Objekt-coordinate system you need the calibration and the Collinearity equations.