This code allows data captured with the OpenKinect 'record' program or my modified kinect_record program to be used with the Point Cloud Library (PCL) KinFu algorithm. It uses the outputs of kinect_register as the inputs.
- https://github.com/mankoff/libfreenect
- https://github.com/mankoff/libfreenect/tree/offline_register
- https://github.com/mankoff/kinect_record/
- http://pointclouds.org/
You should consider collecting data directly with PCL and using KinFu in realtime or using the PCL PCD-grabber code if possible. The only reason to use this setup is if you need to use libfreenect for some reason. Most likely, this reason would be that PCL requires a much more powerful laptop, while libfreenect can run on a smaller and lighter computer for field data collection.
To use this code, call the program with 4 arguments: The x, y, and z file and then name of the PCD file you want to create:
kinect_xyz2pcd foo.x foo.y foo.z foo.pcd
kinect_xyz2pcd foo.{x,y,z,pcd} # compact Bash notationA more complete workflow might look like this:
# collect data AND registration paramaters with Kinect
kinect_record some_folder # save the data into a folder
cd some_folder
kinect_register -s Kx.regdump.dat # save registration parameters for Kinect #x
# register the data
for f in *.pgm; do kinect_register -a Kx.regdump.dat $f; done
rm *.ply # clean up the PLY files. We don't use them
# now, use this code to convert the x, y, and z files to PCD
for f in *.z; do kinect_xyz2pcd ${f%.*}.{x,y,z,pcd}; done
rm *.{x,y,z} # clean up the x,y,z files
# process the PCD files with KinFu
pcl_kinfu_largeScale -pcd . -pcd_fps 0cmake .
makeThe MIT License (MIT)
Copyright (c) 2013 Ken Mankoff
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