uploading Kinect pointcloud fusion package

borsesaurabh2022 · Dec 5, 2023 · 1245cba · 1245cba
1 parent 6796be7
commit 1245cba
Show file tree

Hide file tree

Showing 3 changed files with 17 additions and 0 deletions.
diff --git a/Kinect_PCLfusion/3DBV_Kinect_Fusion.mlx b/Kinect_PCLfusion/3DBV_Kinect_Fusion.mlx
diff --git a/Kinect_PCLfusion/Zimmer.mp4 b/Kinect_PCLfusion/Zimmer.mp4
diff --git a/Kinect_PCLfusion/makePointCloud.m b/Kinect_PCLfusion/makePointCloud.m
@@ -0,0 +1,17 @@
+function [outputArg1] = makePointCloud(inputArg1, inputArg2)
+% Turns Depth Image into Pointcloud
+% inputArg1 is Depth Image, inputArg2 is Color Image
+[s1, s2] = size(inputArg1);
+% Preallocate 3D Matrix to put x,y and Depth Data
+Punkte = zeros(s2, s1, 3);
+for i = 1:s1
+    for j = 1:s2
+        Punkte(j,i,1) = j;
+        Punkte(j,i,2) = i;
+        Punkte(j,i,3) = inputArg1(i,j)*255;
+    end
+end
+% Transpose Image to fit Pointcloud data dimensions
+rgbtranspose = pagetranspose(inputArg2);
+outputArg1 = pointCloud(Punkte, 'Color',rgbtranspose);
+end