kenkenjlab/structure_grabber

Grabber for Structure Sensor (Depth and Infrared) using OpenNI2 (optionally, OpenCV and PCL)

#structure_grabber

Grabber for Structure Sensor (Depth and Infrared) using OpenNI2 (optionally, OpenCV and PointCloudLibrary)

##Requirement

• OpenNI2
• OpenCV
• PointCloudLibrary (PCL)
• CMake

Usage

Preparation

1. Create the project by cmake

Basic

1. Include "structure_grabber.h".
2. To start, write:

StructureGrabber grabber;
grabber.open();

3. To capture, write:

grabber.acquire();

4. To get raw data, write:

unsigned short *depth_data, *infrared_data;
grabber.copyDepthDataTo(depth_data);
grabber.copyInfraredDataTo(infrared_data);

With OpenCV

1. Include OpenCV headers before including "structure_grabber.h".
2. To get IplImage or cv::Mat, write:

cv::Mat depth_image, infrared_image;
grabber.acquire();
grabber.copyDepthImageTo(depth_image);
grabber.copyInfraredImageTo(infrared_image)

With PCL

1. Include PCL headers before including "structure_grabber.h".
2. To get pcl::PointCloud, write:

pcl::PointCloud<pcl::PointXYZ> cloud;
grabber.acquire();
grabber.copyPointCloudTo(cloud);

© 2014 kenken.