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Microsoft SDK with pointclouds.org library RRS feed

  • Question

  • I just started developing on the Kinect using Visual C++, I started using the Microsoft Official SDK 1.7, I even built the first app to read from the Kinect and display the output using OpenGL.

    My project is to build an application which represents a room that the kinect is currently in, I will move the kinect around the room (with my hand initially) and capture lots of frames (point clouds) and then rebuild the entire room, the only library which might help me is the "pointclouds.org" library, which has the registration method, this method gathers the different point cloud inputs (.pcd files) and generate the overall view from them.

    But I noticed that .pcd file format is not at all mentioned in the Microsoft SDK 1.7, I can create the file format manually and then fill in the data from the kinect using the Microsoft SDK, but is this the right way to do it? Or maybe there is a library that is directly compatible with the Microsoft SDK that does the same job that I am looking for.

    Appreciate any help or guidance.

    Sunday, March 31, 2013 11:04 AM

Answers

  • the current SDK release does not support .pcd files
    • Marked as answer by OsamaHamzah Wednesday, April 3, 2013 4:51 AM
    Sunday, March 31, 2013 4:44 PM
  • Yes , you are right Todd Ferkingstad, the SDK doesnt support PCD files, but like OsamaHamzah said, you can create the PCD file ore Object , if you read the documentation about it , and then you can process the point cloud information with help from the pcl library.

    More about the PCD File format , here ( is not so complicated to understand ) :

    http://pointclouds.org/documentation/tutorials/pcd_file_format.php

    http://www.pointclouds.org/documentation/tutorials/writing_pcd.php

    • Marked as answer by OsamaHamzah Wednesday, April 3, 2013 4:51 AM
    Sunday, March 31, 2013 8:53 PM

All replies

  • your idea is really good, another way would be the Kinect Fusion API, but I think PCL is more powerfull for Object recognition and another cool issues
    Sunday, March 31, 2013 1:48 PM
  • the current SDK release does not support .pcd files
    • Marked as answer by OsamaHamzah Wednesday, April 3, 2013 4:51 AM
    Sunday, March 31, 2013 4:44 PM
  • Yes , you are right Todd Ferkingstad, the SDK doesnt support PCD files, but like OsamaHamzah said, you can create the PCD file ore Object , if you read the documentation about it , and then you can process the point cloud information with help from the pcl library.

    More about the PCD File format , here ( is not so complicated to understand ) :

    http://pointclouds.org/documentation/tutorials/pcd_file_format.php

    http://www.pointclouds.org/documentation/tutorials/writing_pcd.php

    • Marked as answer by OsamaHamzah Wednesday, April 3, 2013 4:51 AM
    Sunday, March 31, 2013 8:53 PM
  • arctorx : Kinect Fusion has a cap limit on the space it can capture which is 640X640X640 and it requires a high-end machine that cannot be made mobile (second part of my project).

    The problem PCL is dead slow compared to the 1.7 SDK.


    • Edited by OsamaHamzah Wednesday, April 3, 2013 4:51 AM
    Wednesday, April 3, 2013 4:50 AM
  • PCL should have a class for gpu accelaration , look maybe at pcl::gpu or pcl::cuda namespaces ,

    for more information about PCL, please ask in the PCL forum ;)

    Wednesday, April 3, 2013 7:06 AM