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

조회 수: 11 (최근 30일)
John Wray 2016년 5월 26일
편집: DGM 2023년 2월 20일
Hi,
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.
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jenny jenny 2017년 10월 15일
did you get the answer, because i have the same problem
Simon Cool 2018년 1월 23일
이동: DGM 2023년 2월 20일
Same problem!

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### 답변 (3개)

Marten J 2018년 11월 5일
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);
n=0;
[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);
end
end
end
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.
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Preetham Manjunatha 2022년 10월 5일
This link can help to convert RGB-D images to point cloud, provided the camera intrinsic parameters.
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Birju Patel 2022년 11월 17일
pcfromdepth has been added to Computer Vision Toolbox in R2022b:

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