png2pcd_batch - simple command line utility to convert depth and rgb frames from png format to PCL pointcloud.
There are 2 execution mode: using file with association information i.e. containing rgb-depth png files correspondence or just providing folders that contain depth and rgb frames ( not reccommended ).
In 1st case you should anyhow create associate file by yourself (for further details check description of parse_freiburg function) In 2nd case - correspondence strictly depends on file names, and you should check it twice, to avoid situation when selected depth frame is not appropriate for rgb frame. ( add sorting to filenames vector using custom predicate )
All dataset related parameters are incapsulated in Intr structure ( intrinsics ). There are: width, height, fx, fy, cx, cy, scale_factor. Usually depth data is saved as unsigned short ( 16 bit ), but in pcl::PointXYZ you have to re-scale it to float - metric measurment.
Appropriate intrinsics should be written to file cam_params.cfg otherwise default values will be used ( which may lead to invalid output data ).
There are exist two opportunity for compiling:
using classical make: edit WORK_DIR in Makefile to point in directory contained pcl-trunk & opencv make it produce more lightweighted version by avoiding linkage with unnecessary libraries
or using cmake:
mkdir build; cd build cmake .. make
NOTE 1: There are only two dependencies: PCL and OpenCV.
NOTE 2: in case of builded-but-not-properly-installed OpenCV libraries you have to manually create symlink to ipp lib: sudo ln -s /path-to-opencv/3rdparty/ippicv/unpack/ippicv_lnx/lib/intel64/libippicv.a /usr/lib/libippicv.a