Hi Takashi,
Thank you for your fast answers, my 3d scanner is working quite well, the only thing is that i am not able to use near mode, i am using kinect sdk last version and everything seems to work well except that whe i turn on near mode after using my application it says fail to use near mode and it doesnt work. Do you know why this may happen?
Thank you

Hi Takashi,
I have readed the help format, but what i uderstando is that the depth block gives me, in the case x/y/z, the x y and z position of each pixel, formed by a 640*480 matrix, so the element 1,1 of the matrix in real world coordinates is in the case of the x matrix, the x position of the point in that pixel, is that correct??

Hi Takashi,
I found the error in another blog, there is a problem with my matlab and it is already fixed. Your program runs great, can you tell me in which format you get the points of depth?

Hi everyone,
I have Matlab 7.11.0 (r2010b) in a win 7 64 bits. Each time I try to compile the archives using vs2010 professional I get the following error:
sfun_nid.cpp
c:\users\jno\desktop\kinect project\simulink_nid_0.4.1\slnid\lib\sfun_nid.h(16) : fatal error C1083: Cannot open include file: 'simstruc.h': No such file or directory

C:\PROGRA~1\MATLAB\R2010B\BIN\MEX.PL: Error: Compile of 'sfun_nid.cpp' failed.

??? Error using ==> mex at 208
Unable to complete successfully.

Error in ==> makecmexfile at 54
mex('sfun_nid.cpp', 'kinectSDK_wrapper.cpp', 'wrapper_common.cpp', ['-L'
KinectSDKPathLib], '-lKinect10', ['-I' KinectSDKPathInclude]);

Error in ==> setup_kinectsdk at 78
makecmexfile;

This is really urgent, I am trying to use my kinect to generate 3d models through matlab but I am stuck with that error, I would appreciate anyway to get images through matlab
Thank you in advance

Hi Florian,
I don't/can't know why you're getting a different result from your CAD software, but I'm pretty convinced that P3_CATIA is incorrect.
One check you can do is to find the perpendicular projection of the different points onto the rotation axis, as with the code below. They should all agree, but I get a significant discrepancy for prj_CATIA
axproj=@(z) u*(u\(z-x0))+x0;
prj_old=axproj(P3_old),
prj_new=axproj(P3new_1),
prj_CATIA=axproj(P3_CATIA),
Once you've computed the perpendicular projection it's also easy to verify the angular separation between P3_old and P3new_1, as with the code below. I get 5 degrees to very high precision
anglesep=@(a,b)acosd(dot(a,b)/norm(a)/norm(b));
angle=anglesep(P3new_1-prj_new,P3_old-prj_new),

Hi Matt,
thanks for the code. But I've a little problem.
I tried to use your function with this points
P1 = [33.319 -862.139 420.373]
P2 = [550.303 -721.267 667.915]
P3 = [113 -870.591 483.66]
%% Variablendeklaration
deg = -5;
k = [P1(1,1) P2(1,1)
P1(1,2) P2(1,2)
P1(1,3) P2(1,3) ];
x0 = [P1(1,1);P1(1,2);P1(1,3)];
x1 = [P2(1,1);P2(1,2);P3(1,3)];
%%
u = x1 - x0;
%% test
P3_old = [P3(1,1);P3(1,2);P3(1,3)]
%%
[P3new_1, R, t] = AxelRot(P3_old, deg, u, x0)
the result is
P3new_1 =
111.4677
-866.0073
485.9746
I'm making the same rotation in our CAD software (CATIA)-> I'll get this result
P3_CATIA =
111.386
-868.555
Do you have any idea about the differences?
485.872

@insa: I don't know what you mean exactly by a "circular node". Do you mean a single point in 3D space? Is each "node" defined simply by an (x,y,z) coordinate triple which you want to rotate to a different location? If so, this is a straightforward application of SYNTAX 3 of the tool and you shouldn't have any problem.

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