A simple plugin that consumes depth images, and then converts them to point clouds and renders them in the 3D scene.
Represents a 3D point used in a point cloud.
Represents a collection of points.
Declared in “ark/point_cloud/point_cloud.hh”:
PointCloud point_cloud_from_depth_image(const image::Image & image)
Takes a depth image (must be in the Z16 format at the moment) and converts it into a usable point cloud.
Intrinsics are hard-coded right now from well-known values.