generate a point cloud from a given depth image-matlab Computer Vision System Toolbox

2
votes

I am a beginner in matlab, I have purchased Computer Vision System Toolbox. I have being given 400 of depth images (.PNG images). I would like to create a point cloud for each image. I looked at the documentation of Computer Vision System Toolbox, and there is an example of converting depth image to point cloud (http://uk.mathworks.com/help/vision/ref/depthtopointcloud.html):

[xyzPoints,flippedDepthImage] = depthToPointCloud(depthImage,depthDevice)
depthDevice = imaq.VideoDevice('kinect',2)

but the thing that I don't understand is that it requires Kinect camera and connection. I am not connecting to Kinect, I don't have Kinect, I am just given the output of Kinect which are the depth images.

how to make use of the function(depthToPointCloud) in the toolbox in generating cloud points from already given depth images without connecting to Kinect camera?

1
matlabkinectmatlab-cvstdepthpoint-clouds
have a look at that function rgbd-dataset.cs.washington.edu/software/depthToCloud.m – gregswiss
@gregswiss could you please explain the RGB-D camera constants: 'center = [320 240];' 'constant = 570.3; ' 'MM_PER_M = 1000;' the depth images come from Kinect v2 – Mat
it's not my code but that's how I interpret it. center is the camera center in pixels, MM_PER_M is the number of mm per one meter. the constant must be the focal length in pixels (I believe). – gregswiss

1 Answers

1
votes

Unfortunately, the depthToPointCloud function only works with Kinect v1, and it requires a connection to the Kinect to get the camera parameters.