How to get 3D point Cloud ?
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Trying to get a pointcloud from live video feed using 2 usb webcams.
CODE:
output_dir = 'C:\Users\HITESH\Desktop\Matlab';
delete(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.m;
end
ax = axes;
maxDepth = 5;
clear maxdepth;
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
showPointCloud(pointCloud, J1, 'VerticalAxis', 'Y', 'VerticalAxisDir', 'Down', 'Parent', ax);
xlabel('X (m)');
ylabel('Y (m)');
zlabel('Z (m)');
xlim(ax, [-.8,.8]);
ylim(ax, [-.8,.8]);
zlim([ax,maxDepth]);
drawnow;
end
end
release(leftCam);
release(rightCam);
Error message:
Error using matlab.graphics.axis.Axes/horzcat
Cannot convert double value 5 to a handle.
How do I resolve this issue.
MATLAB R2015a
1 个评论
Image Analyst
2019-3-14
The error message should give additional info, like the line number and the line of code that threw the error. Please give that also, if you're still having the problem.
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