How to stream video from a d435 camera in matlab?

• MartyG

  • February 03, 2020 22:08

  By doing some searching on the net to get around the broken links, I managed to access some possibly useful information from that old RealSense forum.

  The Intel support team member who provided the now broken link pointed to the article in the link below for getting live 2D video with the acquisition toolbox.

  https://uk.mathworks.com/matlabcentral/answers/7202-processing-on-a-live-webcam-streaming-video 

  A RealSense community member also offered their own script for getting a 3D RGB point cloud in MATLAB.  I have pasted the script below.

  ***********************************

  % Make Pipeline object to manage streaming

  pipe = realsense.pipeline();

   

  % Make Colorizer object to prettify depth output

  colorizer = realsense.colorizer();

  % define point cloud object

  pcl_obj = realsense.pointcloud();

  % Start streaming with default settings

  profile = pipe.start();

  align_to = realsense.stream.color;

  alignedFs = realsense.align(align_to);

   

  % 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();

  *********************************

  If you get this error

  alignedFs = realsense.align (align_to);

  (Error using realsense.align Error: File: align.m Line: 9 Column: 20 A constructor call to superclass realsense.filter appears after the object is used, or after a return)

  The script author suggests commenting out line 17 of align.m

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• MartyG

  • February 03, 2020 22:11

  All of the above information was sourced from here:

  https://forums.intel.com/s/question/0D50P0000490XiJSAU/matlab-rgb-point-cloud 

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