Azure-Kinect-Sensor-SDK/examples/fastpointcloud

Azure Kinect Fastpointcloud Example

Introduction

The Azure Kinect Fastpointcloud example computes a 3d point cloud from a depth map. The example precomputes a lookup table by storing x- and y-scale factors for every pixel. At runtime, the 3d X-coordinate of a pixel in millimeters is derived by multiplying the pixel's depth value with the corresponding x-scale factor. The 3d Y-coordinate is obtained by multiplying with the y-scale factor.

This method represents an alternative to calling k4a_transformation_depth_image_to_point_cloud() and lends itself to efficient implementation on the GPU.

Usage Info

fastpointcloud.exe <output file>

Example:

fastpointcloud.exe pointcloud.ply