kinect v2 & MATLAB ROS

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roberto ferraresi
roberto ferraresi 2018-1-22
good morning, I'm working with 3 kinects through Matlab-ROS, and i need some help about this. I receive the information from the kinects every 0.1 sec and I need to operate online saving the XYZ and RGB information of each kinect, but the readRGB, readXYZ, readField functions are too slow, keeping the cycle busy 30 seconds for each acquisition. Is there a way to speed up saving these variables?
I enclose my script:
sub0 = rossubscriber('/kinect0/sd/points');
sub1 = rossubscriber('/kinect1/sd/points');
sub2 = rossubscriber('/kinect2/sd/points');
while(~FS.Stop())
tic;
pcloud0008 = receive(sub0);
pcloud0007 = receive(sub1);
pcloud0015 = receive(sub2);
pcloud0008.PreserveStructureOnRead = true;
pcloud0007.PreserveStructureOnRead = true;
pcloud0015.PreserveStructureOnRead = true;
xyz0=readXYZ(pcloud0008);
xyz1=readXYZ(pcloud0007);
xyz2=readXYZ(pcloud0015);
rgb0=readRGB(pcloud0008);
rgb1=readRGB(pcloud0007);
rgb2=readRGB(pcloud0015);
toc
end

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