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Best toolchain for recording kinect data and converting to pointcloud offline?

asked 2011-03-25 03:19:14 -0500

lucasw gravatar image

updated 2016-10-24 09:00:11 -0500

ngrennan gravatar image

I'd like to save raw kinect data with minimal computer overhead to achieve maximal framerate on a computer that may not have enough performance for much else, and then take the saved data and do the depth-rgb alignment and conversion to point cloud non-real-time.

What tools and commands should I use?

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answered 2011-03-31 03:42:56 -0500

lucasw gravatar image

I've found some discussion of the same question here: http://kinect-with-ros.976505.n3.nabble.com/Ros-kinect-Point-cloud-projection-in-a-second-pass-for-CPU-limited-systems-td2497149.html#a2756101

When I get a chance to try it out I'd like to produce a tutorial with every command line documented, unless someone else beats me to it.

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answered 2011-03-28 04:55:02 -0500

dynamic reconfigure lets you turn off registration of the two images. Then you can use rosbag to save the rgb and depth image topics for later processing. Or you could edit openni_node.cpp in the openni_camera package to store the images instead of publishing, but this is far more involved.

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Asked: 2011-03-25 03:19:14 -0500

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Last updated: Mar 31 '11