Why I did not get the projection image like in the "Estimate camera projection" example from Matlab site?

Question

L 2019-7-20

0
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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/472633-why-i-did-not-get-the-projection-image-like-in-the-estimate-camera-projection-example-from-matlab

评论： L 2020-2-13

projection.png

在 MATLAB Online 中打开

What is the problem with my code, because I didn't get the projection image?

Thank you.

Here is the code:

ptCloud=pcread('out142.ply');
[validPtCloud,validIndices] = removeInvalidPoints(ptCloud);
worldPoints = validPtCloud.Location;
indices = 1:ptCloud.Count;
[y,z] = ind2sub([size(ptCloud.Location,1),size(ptCloud.Location,2)],indices);
imagePoints = [y(validIndices)' z(validIndices)'];
projImage = zeros(max(imagePoints(:,1)),max(imagePoints(:,2)),3);
rgb = validPtCloud.Color;
for j = 1:length(rgb)
projImage(imagePoints(j,1),imagePoints(j,2),:) = rgb(j,:);
end
figure
subplot(1,2,1)
pcshow(ptCloud)
xlabel('X');
ylabel('Y');
zlabel('Z');
title('Point Cloud Data','Color',[1 1 1])
subplot(1,2,2)
imshow(uint8(projImage))
title('2-D Image Projection','Color',[1 1 1])