I would like to acquire and plot RGB colored point clouds from a D435 in MATLAB*. Can I access and use the vertices and textures to reformat the RealSense point cloud object into a MATLAB point cloud object?
The RealSense team is working on an example for how to color a point cloud in MATLAB. Currently, we don't have an ETA (estimate time of arrival).
Meanwhile, you can check this thread, which contains a code for acquiring an RGB (red, green, blue) colored point cloud in MATLAB (read comments for a quick fix to an issue related to align.m superclass).
If you want to acquire only the point cloud, without RGB, you can use the following code:
% Make Pipeline object to manage streaming
pipe = realsense.pipeline();
% define point cloud object
pcl_obj = realsense.pointcloud();
% Start streaming on an arbitrary camera with default settings
% Get frames. We discard the first couple to allow
% the camera time to settle
for i = 1:5
frames = pipe.wait_for_frames();
% Select depth frame
depth = frames.get_depth_frame();
% get point cloud points without color
pnts = pcl_obj.calculate(depth);
vertices = pnts.get_vertices();
% optional: populate MATLAB point cloud object
pCloud = pointCloud(vertices);
%display point cloud