Question Regarding 'pcfromdepth' Function Example
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Hello,
I have been working with the example code provided in the 'doc pcfromdepth' documentation in MATLAB. I used the example color image 'sampleImage.png' along with depth images extracted using the 'MiDaS' and 'Depthanything v2' models to generate the point cloud. However, the point cloud I obtained was inaccurate compared to the result shown in the example.
I am curious about how the DepthImage used in the MATLAB example was extracted, and how the camera parameters (focalLength, principalPoint) were determined. Could you please provide more information on this?
Thank you for your assistance.
2 Comments
Steven Lord
on 2 Oct 2024
"inaccurate" is a very general term. If you provide more information about what you receive (so we could compare it with the results shown on that documentation page) Answers readers may be better able to offer suggestions for ways to improve the agreement of your modification of the example with what's in the doc.
Accepted Answer
Gayathri
on 7 Oct 2024 at 10:17
I understand that you want to know the source of the Depth Image and the intrinsic camera parameters used in the “pcfromdepth” documentation example.
The image and the depth image were captured using a RGB-D camera. This is mentioned in the “pcfromdepth” documentation link given below.
Also to know more about the dataset from which the image was taken, please refer to the example given in “Visual SLAM with RGB-D Camera” documentation. The link for the same is attached below for your reference.
The image is taken from the TUM RGB-D benchmark dataset. The dataset can be accessed using the below mentioned link.
The intrinsics of the dataset such as “focalLength”, “principalPoint” can be found in the below mentioned link.
Hope you find this information helpful.
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