kinect point cloud

just using the saturation value (close range). manually aligning the texture to the depth, which isn't really right: it needs to be projected onto the depth map.


note that this uses hector's default 'gamma' function, but what really needs to happen is taking the inverted reciprocal 1/(1-x) as i'm pretty sure the 11-bit image returned by the depth sensor is a disparity image. edit: i just posted a function for converting to meters here


if you want to see this in realtime, swap out the glview.c from your copy of the github openkinect project with the glview.c posted on the OF board:

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Uploaded on November 11, 2010