Kinect Point Cloud Normals Rendering – Part 1

That’s a bit of a mouthfull as a title – but it encapsulates all the things I’m hoping to cover in this post and the end goal. The first step is to create a point cloud using the depth data that we get from the Kinect camera. To do this we’ll need the calibration details we obtained previously (see ) and the geometry of the “Pinhole Camera”. If you look up the Wikipedia article on the Pinhole camera model you will find that this model describes the mathematical relationship between the coordinates of a 3D point and its projection onto…
Read more →