Align-advanced example for MATLAB.

• Eliza Davidov

  • June 17, 2019 11:43

  Hello Maqahad1993,

   

  Thank you for your interest in the Intel RealSense Technology. 

   

  At this moment, we can only provide you this example for using the align function.

  Please feel free to use it as a template and modify it accordingly in order achieve your desired results. 

   

  % Make Pipeline object to manage streaming
  
   
  pipe = realsense.pipeline();
   
  
  % Make Colorizer object to prettify depth output
  
  colorize = realsense.colorizer();
  
  % define point cloud object
  
  pcl_obj = realsense.pointcloud();
  
  % Start streaming with default settings
  
  profile = pipe.start();
  
  alignto = realsense.stream.color;
  
  alignedFs = realsense.align(alignto);
  
   
  
  % Get streaming device's name
  
  dev = profile.get_device();
  
  name = dev.get_info(realsense.camera_info.name);
  
   
  
  % Get frames. We discard the first couple to allow
  
  % the camera time to settle
  
  for i = 1:5
  
  fs = pipe.wait_for_frames();
  
  end
  
   
  
  %create a point cloud player
  
  player1 = pcplayer([-1 1],[-1 1],[-1 1]);
  
   
  
  frameCount =0;
  
  while isOpen(player1) && frameCount < 2000
  
  frameCount = frameCount+1;
  
  fs = pipe.wait_for_frames();
  
   
  
  %align the depth frames to the color stream
  
  aligned_frames = alignedFs.process(fs);
  
  depth = aligned_frames.get_depth_frame(); 
  
   
  
  color = fs.get_color_frame();
  
   
  
  %get the points cloud based on the aligned depth stream
  
  pnts = pcl_obj.calculate(depth);
  
  pcl_obj.map_to(color);
  
  colordata = color.get_data();
  
  colordatavector = [colordata(1:3:end)',colordata(2:3:end)',colordata(3:3:end)'];
  
   
  
  vertices = pnts.get_vertices(); 
  
   
  
  view(player1,vertices,colordatavector) 
  
  end
  
   
  
  % Stop streaming
  
  pipe.stop();
  
  

  Best regards,

  Eliza

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• H Hewawasam

  • May 27, 2020 12:38

  Hi,

   

  Thanks for the example. However, I get an error after a couple of iterations. Error message was,

  ----------------------------------------------------------------------------------------------------------------------------------

  Error using pointclouds.internal.pcui.validateAndParseInputsXYZC (line 80)
  'C' must be a single color or its dimensions must correspond to the number of input points.

  Error in pcplayer/parseInputs (line 501)
  [X, Y, Z, C, map, ptCloud] =
  pointclouds.internal.pcui.validateAndParseInputsXYZC(mfilename, varargin{:});

  Error in pcplayer/view (line 196)
  [X,Y,Z,C,map, ptCloud] = pcplayer.parseInputs(varargin{:});

  Error in align_example_original (line 89)
  view(player1,vertices,colordatavector)

  --------------------------------------------------------------------------------------------------------------------------------------------

  Could you please advice me on this issue?

   

  Thanks

   

   

   

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• MartyG

  • May 27, 2020 13:55
  • Edited

  If you are using the script above, it is not meant for use directly in MATLAB.  Eliza was suggesting to modify it for MATLAB.

  If you are aiming to use a RealSense 400 Series camera with MATLAB, the RealSense SDK has a compatibility 'wrapper' for MATLAB users with Windows 10.

  https://github.com/IntelRealSense/librealsense/tree/master/wrappers/matlab 

  Scripts for the MATLAB wrapper are almost 1:1 the same as C++ scripting for the RealSense SDK, though you may still have to make some modifications.

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