Save a stream of point clouds from kinect

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Save a stream of point clouds from kinect

billyzepho
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Hello and thank you for your work in this library.
I tried the code from the topic :http://www.pcl-users.org/Simple-Kinect-viewer-that-writes-a-PCD-td3883792.html. to get a stream of pcd files.
I comment out the lines with the user pressing s to save the cloud and put sleep(1) instead to get 1 fps of
point clouds which i later proccess with the icp algorithm.
My question is : Can i have more fps with this method , because 1 fps is too slow and little sensor movements
effect a lot the transformation estimation accuracy (usleep(milliseconds) doesnt work) or is there another way ?
Thank you in advance !
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Re: Save a stream of point clouds from kinect

VictorLamoine
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Hello,

When you say usleep doesn't work, can you detail why? What is happening?

Bye
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Re: Save a stream of point clouds from kinect

billyzepho
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Yes ofcourse,
when im using usleep with any value that indicates < 1sec (even 0.75 of a sec) the name of the files saved in the disk
show that i am missing files (cloud1.pcd cloud3.pcd cloud 7.pcd etc..) but when im using the usleep function with a value
that indicates >=1sec the files are saved correctly (cloud1.pcd cloud2.pcd cloud3.pcd etc..) so im guessing it cant handle
faster than 1 sec ?
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Re: Save a stream of point clouds from kinect

billyzepho
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Please , is there a way to modify the code from SImpleOpenniProcessor so that
it can save the stream of point clouds to a vector at full rate ?
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Re: Save a stream of point clouds from kinect

Geucimar
billyzepho, have you found a solution to stream .pcd?
Thank you?
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Re: Save a stream of point clouds from kinect

PG1337
I wrote a very simple Kinect v2 record and playback function with the functions that were already mentioned here.

// write .pcd file to hard disk drive as binary file. last bool parameter = compressed
pcl::io::savePCDFile(string path_and_filename,*cloudlivestream_,true);

So it saves for every incoming frame one .pcd file. On my SSD powered laptop, i do not have any performance issues with that.

The playback function is the same: It reads all files in one folder (= one record) and load the content in a buffer. A timer with 33 ms interval updates the point cloud.

Maybe this is quick and dirty, but i did not find anything implemented in PCL for Kinect v2.


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