Is there a substitute for pcshow()?

Hello,

I got a 3D point cloud with " xyzPoints = depthToPointCloud(depthImage,depthDevice)". As I only have 2015a "pcshow" doesn't work. Is there a substitute command?

Thanks in advance!

[Image Analyst]

What does it do? What toolbox is it in (please list it below)?

[lucca k]

what does what do? the comand "pcshow"? --> http://de.mathworks.com/help/vision/ref/pcshow.html

my point cloud is taken by a Kinect sensor. As I want to use it for an obstacle avoidance I need to see the points, transform and then filter them. all toolboxes I installed is the image aquisition toolbox

[Image Analyst]

It looks like that pcshow() is in the Computer Vision System Toolbox, so you must have installed that too. It's now in the product list so maybe the developer will see it and answer.

[lucca k]

pcshow() was implemented in 2015b. As I only have access to 2015a it can't work for me I think.

Answer 1

[Walter Roberson]

xyz = get(xyzPoints, 'location');
scatter3(xyz(:,1), xyz(:,2), xyz(:,3))

However, please show size(xyz) after the get(), as there is a different packing of values that might apply.

[lucca k]

Thank you Walter.I get this error. Do you maybe know why?

[lucca k]

[Walter Roberson]

Try

xyz = xyzPoints.Location;

If that does not work please show size(xyz) and class(xyz)

[lucca k]

ok it didn't work. it sais " Attempt to reference field of non-structure array." d is size and c is class.

[lucca k]

[lucca k]

[Walter Roberson]

That's not a real point cloud!

Just use the scatter3 command but change the variable name to xyzPoints in the three locations.

[lucca k]

this is the scatter I get

[lucca k]

and this is the image I want a point cloud from

[lucca k]

[lucca k]

http://de.mathworks.com/help/vision/ref/depthtopointcloud.html

I would like a picture like that one to work on.

[Walter Roberson]

I am not going to try to fix this until after I have some sleep. I am finding the array meaning confusing.

[lucca k]

Ok, sleep well. I hope to hear from you tomorrow :) Thank you

[lucca k]

the array meaning is just the resolution of the camera I think.

[lucca k]

hello walter? are you there? I found out that in xyzpoints are more than 524288 elemts and this is way it cant be displayed.

[Walter Roberson]

My hands have been too sore to do much.

[lucca k]

ok

[Image Analyst]

I don't know that Walter has the Computer Vision System Toolbox. I don't either.

[lucca k]

I do

[lucca k]

so walter do you think you can solve this? why is the array unstructured? maybe I need to get 2015b somehow...

[lucca k]

hey walter, it works now with that code:

showPointCloud(xyzPoints, 'VerticalAxis', 'y', 'VerticalAxisDir', 'down');
  xlabel('X (m)');
  ylabel('Y (m)');
  zlabel('Z (m)');

Thank you very much for your help!

Answer 2

[Dima Lisin]

In R2015a the equivalent function is called showPointCloud.