How to get 3D point Cloud ?

Trying to get a pointcloud from live video feed using 2 usb webcams.

CODE:

output_dir = 'C:\Users\HITESH\Desktop\Matlab';
delete(imaqfind)
%%set up webcam
leftCam = imaq.VideoDevice('winvideo', 2, 'YUY2_640x480');
rightCam = imaq.VideoDevice('winvideo', 1, 'YUY2_640x480');
%%load stereo parameters if required
if ~exist('stereoParams', 'var')
    load stereocalibration.m;
end
ax = axes;
maxDepth = 5;
clear maxdepth;
while true
imageLeft = step(rightCam);
imageRight = step(leftCam);
[J1, J2] = rectifyStereoImages(imageLeft, imageRight, stereoParams);
disp = disparity(rgb2gray(J1), rgb2gray(J2), 'DisparityRange', [0, 112]);
pointCloud = reconstructScene(disp, stereoParams) ./1000;
z = pointCloud(:,:,3);
z(z<0) = NaN;
z(z>maxDepth) = NaN;
pointCloud(:,:,3) = z;
if ~ishandle(ax)
    break;
else
    showPointCloud(pointCloud, J1, 'VerticalAxis', 'Y', 'VerticalAxisDir', 'Down', 'Parent', ax);
    
    xlabel('X (m)');
    ylabel('Y (m)');
    zlabel('Z (m)');
    xlim(ax, [-.8,.8]);
    ylim(ax, [-.8,.8]);
    zlim([ax,maxDepth]);
    drawnow;
end
end
release(leftCam);
release(rightCam);

Error message:

Error using matlab.graphics.axis.Axes/horzcat

Cannot convert double value 5 to a handle.

How do I resolve this issue.

MATLAB R2015a

[Image Analyst]

The error message should give additional info, like the line number and the line of code that threw the error. Please give that also, if you're still having the problem.

Answer 1

[Hitesh P]

The following error shows up when I run the code. A 3D plot shows up but no point cloud appears on that .

Error using matlab.graphics.axis.Axes/horzcat

Cannot convert double value 5 to a handle