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Hacking the Kinect by Matt Parker, Daniel Herrera C., Florian Echtler, Nicolas Burrus, Jeff Kramer

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C H A P T E R  7

Point Clouds, Part 1

This chapter brings us into the world of 3-D. You will see what the different ways of representing 3-D data are and how we can transform the 2-D images returned by the Kinect into 3-D points. This chapter will include the following concepts:

  • Representing data in 3-D
  • Transforming a depth image into a point cloud
  • Visualizing a point cloud
  • Coloring a point cloud
  • Manipulating a point cloud

Let’s get started.

Representing Data in 3-D

Before you start producing 3-D models with your Kinect, you must know how to represent and store those models. Most developers are familiar with how 2-D raster images are stored. The image consists of a regular grid of pixels that sample the 2-D space. The image resolution (i.e., ...

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