在MATLAB中使用pointCloud时，“颜色”必须与输入点的数量相对应

Question

我想从立体相机创建一个3D地图，为了测试这个，我使用了两个给定的MATLAB示例：

1. https://de.mathworks.com/help/vision/ref/estimatecameraparameters.html（“立体相机校准”）
2. https://de.mathworks.com/help/vision/examples/depth-estimation-from-stereo-video.html

我将这两个脚本合并为以下一个：

% load left and right images
leftImages = imageDatastore(fullfile(toolboxdir('vision'),'visiondata', ...
    'calibration','stereo','left'));
rightImages = imageDatastore(fullfile(toolboxdir('vision'),'visiondata', ...
    'calibration','stereo','right'));

% calculate image points
[imagePoints,boardSize] = ...
  detectCheckerboardPoints(leftImages.Files,rightImages.Files);

% calculate world points
squareSize = 108;
worldPoints = generateCheckerboardPoints(boardSize,squareSize);


% calculate camera paramters
I = readimage(leftImages,1); 
imageSize = [size(I,1),size(I,2)];
stereoParams = estimateCameraParameters(imagePoints,worldPoints, ...
                                  'ImageSize',imageSize);


% get left and right image
frameLeftGray = imread(leftImages.Files{1});
frameRightGray = imread(rightImages.Files{1});
[frameLeftRect, frameRightRect] = ...
    rectifyStereoImages(frameLeftGray, frameRightGray, stereoParams);


% get disparity map    
disparityMap = disparity(frameLeftRect, frameRightRect);
figure;
imshow(disparityMap, [0, 128]);
title('Disparity Map');
colormap jet
colorbar

% create 3D Bar 
points3D = reconstructScene(disparityMap, stereoParams);

% Convert to meters and create a pointCloud object
points3D = points3D ./ 1000;

% This will fail
ptCloud = pointCloud(points3D, 'Color', frameLeftRect);

% Create a streaming point cloud viewer
player3D = pcplayer([-3, 3], [-3, 3], [0, 8], 'VerticalAxis', 'y', ...
    'VerticalAxisDir', 'down');

% Visualize the point cloud
view(player3D, ptCloud);

但是，upoon执行我将收到以下错误消息：

使用pointCloud / set.Color时出错（第545行）'Color'必须对应于输入点的数量。

pointCloud（第151行）出错this.Color = C;

DepthEstimation中的错误（第45行）ptCloud = pointCloud（points3D，'Color'，frameLeftRect）;

在尝试示例1）和2）时，它们分别正常工作。我认为它与图像尺寸本身有关。无论如何调整大小，都会导致错误的摄像机参数。

那么有没有其他方法来修复错误与“颜色”参数存在？

先感谢您

Answer 1

您使用灰度图像作为输入，因此它与RGB点不匹配。从灰度图像创建RGB图像，然后使用它。

rgb = cat(3,frameRightRect,frameRightRect,frameRightRect);
ptCloud = pointCloud(points3D, 'Color', rgb);