Help on point cloud with intel realsense

[Andrea_B_1]

I'm a beginner. I have to create a file .ply with point cloud but i don't have any idea for start the project.

Can someone post a sample code to implement it in C++ on VisualStudio 2013 ?

How can I generete the points with raw data ?

Thanks

[samontab]

Hi Andrea,

Take a look at the included samples to get the depth channel. Then, you can use it to get the XYZ coordinates of each point.

To get the XYZ coordinates in mm, you can just use QueryVertices from pxcprojection with your depth image:

/** 
    @brief Retrieve the vertices for the specific depth image. The vertices is a PXCPoint3DF32 array of depth 
    size width*height. The world coordiantes units are in mm.
    @param[in]  depth        The depth image instance.
    @param[out] vertices     The 3D vertices in World coordinates, to be returned.
    @return PXC_STATUS_NO_ERROR Successful execution.
*/ 
virtual pxcStatus PXCAPI QueryVertices(PXCImage *depth, PXCPoint3DF32 *vertices)=0;

Then, it is just a matter of writing out the file in the .ply format.