Point Cloud from DEPTH and RGB image

Question

minehaha 2019-4-13

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/456165-point-cloud-from-depth-and-rgb-image

回答： Preetham Manjunatha 2022-10-4

Hi everyone, my aim is to create a point cloud from depth image and RGB image I obtained from kinect. Successfully I calculated coordinates and visualised depth map as a cloud, but dont know how to add the color information from RGB.

Is there a way how to insert RGB matrix as a color parameter of ptCloud?

%ptCloud = pointCloud(points,'Color',cmatrix);

I found

scatter3

plot in discussion, but in my case it doesnt show correct values.

Any advice?

Thank you

clearvars
%load depth
final{1}=['FinalKamera.hdr'];
linear = hdrread(final{1});
linear = linear(:, :, 1);
%load rgb
rgb = imread('FinalKamerargb.jpeg');
% depth coordinates calculation
points=zeros(512*424,3);
inc=1;
for i=1:424
     for j=1:512
     points(inc,1)=(i-256.4626)*linear(i,j)/(365.3277);  % x array
     points(inc,2)=(j-213.1488)*linear(i,j)/(366.8126);  % y array
     points(inc,3)= linear(i,j); % z array
     inc=inc+1;
     end
end
%ptCloud = pointCloud(points,'Color',cmatrix);
%pcshow(points);
clr = reshape(double(rgb)/255, [], 3);
scatter3(points(:,1), points(:,2), points(:,3), 6, clr, '.')
axis tight vis3d
title('Point Cloud'); xlabel('X'); ylabel('Y'); zlabel('Z');

0 个评论
显示 -2更早的评论隐藏 -2更早的评论

请先登录，再进行评论。

请先登录，再回答此问题。

Answer 1

Andrej Satnik 2020-5-2

1
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/456165-point-cloud-from-depth-and-rgb-image#answer_429751

编辑：Andrej Satnik 2020-5-2

在 MATLAB Online 中打开

This post is old but for anyone who is searching for the answer this is faster method without loops. Correct me if I am wrong.

%depth is depth image in double format
Sd = size(depth);
[X,Y] = meshgrid(1:Sd(2),1:Sd(1));
%K is calibration matrix
X = X - K(1,3) + 0.5;
Y = Y - K(2,3) + 0.5;
XDf = depth/K(1,1);
YDf = depth/K(2,2);
X = X .* XDf;
Y = Y .* YDf;
XY = cat(3,X,Y);
cloud = cat(3,XY,depth);
cloud = reshape(cloud,[],3) / 1000.0;
% if you can use matlab point cloud library
cloud = pointCloud(cloud);
pcshow(cloud);