Kinect Hacks by Jared St. Jean

Author:Jared St. Jean [St. Jean, Jared]
Language: eng
Format: epub
ISBN: 9781449315207
Publisher: O’Reilly Media, Inc.
Published: 2013-04-25T04:00:00+00:00

Display a Colored Point Cloud

Continuing on from the previous hack, it’s time to get some data out of your Kinect. There are several ways to get RGB-D images or point clouds. The most convenient seems to be the OpenNIGrabber framework of PCL, which you can download at http://bit.ly/TfZGKQ. To get data from the grabber, we need to give it a function to call with said data. In this function, we can do with the data whatever we please. So, in this section, we write a small piece of code that defines a function to obtain a colored point cloud and, when called, displays the point cloud using the CloudViewer of PCL’s visualization module.

Think of a good name for the project and create a new directory for it using a terminal application:

mkdir _<project-name>_

I will use the name nicv, mostly because it is short and I am not the creative type. Feel free to choose a better name. After creating the project, open your favorite editor (or use gedit if you are new to Ubuntu and don’t want to spend much time choosing an editor) and create a new file called main.cpp in the fresh project directory.

First, we will include the required header files for PCL’s OpenNIGrabber.

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