Colorize Depth Frame in MATLAB

[ASriv7]

How do you colorize a depth frame in MATLAB? Simply using "colormap jet" doesn't work.

I came across https://github.com/IntelRealSense/librealsense/blob/c8ee8fa1912b9297df13bfe097d527667fe0afba/src/proc/colorizer.h this and https://github.com/IntelRealSense/librealsense/blob/efe67a9e7b69c7a8c3657456543b1a220095d08b/src/proc/colorizer.cpp this in the source code, but is there an easier way to do it in MATLAB?

[MartyG]

Are you trying to align the color and depth frames to create a combined RGBD image in MATLAB, please?

If so, the discussion linked to below about creating such a MATLAB setup with Pyrealsense2 and an SR300 may be of interest.

https://github.com/IntelRealSense/librealsense/issues/1231 Pyrealsense2: Question about 3D reconstruction problem · Issue # 1231 · IntelRealSense/librealsense · GitHub

[ASriv7]

No, I'm just trying to display the depth raw data in the coloured form shown by RealSense Viewer.

[MartyG]

You are trying to color-code the depth image with MATLAB, like the colorized speckled depth image with the number scale beside it in the RealSense Viewer? That would be a Disparity Map.

MATLAB documentation on disparity mapping

https://uk.mathworks.com/help/vision/ref/disparity.html Disparity map between stereo images - MATLAB disparity- MathWorks United Kingdom

Example tutorial (others can be found by googling for 'disparity map matlab')

http://mccormickml.com/assets/StereoVision/Stereo%20Vision%20-%20Mathworks%20Example%20Article.pdf http://mccormickml.com/assets/StereoVision/Stereo%20Vision%20-%20Mathworks%20Example%20Article.pdf

[AAvis]

Hi Leponzo,

Could you share with us how did you import the Depth image to MATLAB environment? In which format did you record the Depth image and how (which tool)?