3D point cloud

Hitesh P

2019 2 15

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output_dir = 'C:\Users\HITESH\Desktop\Matlab';
objects = imaqfind;
%%set up webcam
leftCam = imaq.VideoDevice('winvideo', 2, 'YUY2_640x480');
rightCam = imaq.VideoDevice('winvideo', 1, 'YUY2_640x480');
%%load stereo parameters if required
if ~exist('stereoParams', 'var')
    load stereocalibration
end
ax = axes;
maxDepth = 5;
while true
imageLeft = step(rightCam);
imageRight = step(leftCam);
[J1, J2] = rectifyStereoImages(imageLeft, imageRight, stereoParams);
disp = disparity(rgb2gray(J1), rgb2gray(J2), 'DisparityRange', [0, 112]);
pointCloud = reconstructScene(disp, stereoParams) ./1000;
z = pointCloud(:,:,3);
z(z<0) = NaN;
z(z>maxDepth) = NaN;
pointCloud(:,:,3) = z;
if ~ishandle(ax)
    break;
else
    pcshow(pointCloud, J1, 'VerticalAxis', 'Y', 'VerticalAxisDir', 'Down', 'Parent', ax);
    
    xlabel('X (m)');
    ylabel('Y (m)');
    zlable('Z (m)');
    xlim(ax, [-.8, .8]);
    ylim(ax, [-.8, .8]);
    zlim([ax, maxDepth]);
    drawnow;
end
end
release(leftCam);
release(rightCam);