How do I directly covert a depth image to 3-D point cloud?

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John Wray
John Wray 2016 年 5 月 26 日
編集済み: DGM 2023 年 2 月 20 日
I could use pcfromkinect() function to convert depth data from kinect device into 3-D cloud points.
But how could I convert the depth matrix that had already extracted from kinect into 3-D cloud points ?
I mean, pcfromkinect() seems only works from device to 3d points cloud, not matrix to cloud.
  2 件のコメント
jenny jenny
jenny jenny 2017 年 10 月 15 日
did you get the answer, because i have the same problem
Simon Cool
Simon Cool 2018 年 1 月 23 日
移動済み: DGM 2023 年 2 月 20 日
Same problem!


回答 (3 件)

Marten J
Marten J 2018 年 11 月 5 日
I had the same problem. I could solve it through a double for-loop... but it's not the most efficient way:
if true
A = double(depthImage);
[s1 s2] = size(A);
for i = 1:s1
for j = 1:s2
n = n+1;
Punkte(n,1) = i;
Punkte(n,2) = j;
Punkte(n,3) = A(i,j);
so I calculated the depthImage in the Pointcloud matrix [x-vector, y-vector, z-vector] but it takes some time.
Also only the Z-Value is in the metric system... the x and y- values stay in the Pixel system... to transform then in the Objekt-coordinate system you need the calibration and the Collinearity equations.

Preetham Manjunatha
Preetham Manjunatha 2022 年 10 月 5 日
This link can help to convert RGB-D images to point cloud, provided the camera intrinsic parameters.

Birju Patel
Birju Patel 2022 年 11 月 17 日
pcfromdepth has been added to Computer Vision Toolbox in R2022b:


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