So, like I said in the last post, I had got the Kinect to obtain and view point cloud data but only manually. I updated the code a bit to do the above without intervention. Here is the link to the video of a time varying PCD that I obtained.<\/p>\n
YouTube link :\u00a0http:\/\/youtu.be\/T4IPKq0rGII<\/a><\/p>\n Yes, that is me walking like a zombie. Note that I have loaded the points as PointXYZ on purpose to give a feel of the pointcloud. Loading the points as PointXYZRGBA feels like a picture and not a pointcloud.<\/p>\n The idea behind this is 8 PCD files named output1.pcd, output2.pcd and so on. The ReKinStruct_Snapshot.cpp code would take a snapshot once every second and save as binary PCD files with names as listed above. The Binary PCD files are constant in size (4801 KB).<\/p>\n The ReKinStruct_Viewer.cpp loads these files and displays them in sequence with a time delay of 1 second. It uses two pcl::PointXYZ pointers. One loads the output<even>.pcd files and the other loads the output<odd>.pcd files. So when the even-pointer is displaying the point cloud in the viewer, the odd-pointer loads the next .pcd file in the background and vice versa thus abstracting the user from the latency of loading the files.<\/p>\n And for some reason, Visual Studio 2010 didn’t let me use Sleep() or wait() routines. So I had to write my own API as follows.<\/p>\n #include <time.h><\/p>\n void wait(unsigned int seconds) <\/code><\/p>\n Next steps would be to obtain a faster scenario and progress through the 3D viewer faster, like real-time motion.<\/p>\n Will keep you posted.!<\/p>\n","protected":false},"excerpt":{"rendered":" So, like I said in the last post, I had got the Kinect to obtain and view point cloud data but only manually. I updated the code a bit to do the above without intervention. Here is the link to … Continue reading <\/p>\n
\n{
\n clock_t timeToWait = clock () + seconds * CLOCKS_PER_SEC ;
\n while (clock() < timeToWait);
\n}<\/p>\n