How to convert binary_compressed PCD to depth and RGB image to feed to Kinfu?

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How to convert binary_compressed PCD to depth and RGB image to feed to Kinfu?

wguo
This post was updated on .
Suppose I reload captured pointcloud PCD in XYZRGB  format,I want to feed the data to kinfu.  So how to convert the XYZRGB PCD to depth and RGB data needed by Kinfu as following:
      PtrStepSz<const unsigned short>& depth   and  PtrStepSz<const RGB>& rgb24

I guess the focus_length should be used to convert XYZ data to depth image?

Thanks
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Re: How to convert binary_compressed PCD to depth and RGB image to feed to Kinfu?

koen buys-2
On 14 July 2012 10:07, wguo <[hidden email]> wrote:
> Suppose I reload captured pointcloud PCD in XYZRGB  format,I want to feed the
> data to kinfu.  So how to convert the XYZRGB PCD to depth and RGB data
> needed by Kinfu as following:
>       PtrStepSz<const unsigned short>& depth   and  PtrStepSz<const RGB>&
> rgb24
>

Look at the Kinfu app, Kinfu can read PCD files or directories directly.

Koen

> Thanks
>
>
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Re: How to convert binary_compressed PCD to depth and RGB image to feed to Kinfu?

wguo
This post was updated on .
Which version of your PCL? I looked at kinfu_app from PCL version 5668 again,but I didn't find what you said.

The following code in the execute():
     bool has_frame = evaluation_ptr_ ? evaluation_ptr_->grab(i, depth) : capture_.grab (depth, rgb24);      
      if (!has_frame)
      {
        cout << "Can't grab" << endl;
        break;
      }

      depth_device_.upload (depth.data, depth.step, depth.rows, depth.cols);
      if (integrate_colors_)
          image_view_.colors_device_.upload (rgb24.data, rgb24.step, rgb24.rows, rgb24.cols);
RB
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Re: How to convert binary_compressed PCD to depth and RGB image to feed to Kinfu?

RB
Look at kinfu command line options. As Koen said, there are options for directory or pcd files.

Best,
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Re: How to convert binary_compressed PCD to depth and RGB image to feed to Kinfu?

Sergey
Administrator
In reply to this post by wguo
Hi wguo,

As far as I can see, revision 5668 does not support PCD input yet. The repository history shows that PCD input was added in revision 5769.

Regards,
Sergey