Kinect Point Cloud Normals Rendering – Part 4

In this post I’ll create a WPF front-end to the C++ template code I’ve been using so far. I’ll use a CLR wrapper to achieve this. The first step is to create a WPF project. I like to use MVVM Light Toolkit for my WPF projects. I’ve installed the Visual Studio plugin so it comes up as on option when I’m creating a new project. I started by created a project called DepthViewer2D: Once I created this project I added a new project to the solution called DepthImageRenderer. This is a C++/CLR class library project. You’ll find it under “Other…
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Kinect Point Cloud Normals Rendering – Part 3

In this post I’ll add to further methods for calculating the normals of the depth point cloud. In the previous point I showed how to calculate the normal of a point using the point directly above and the point directly to the left. We can obtain smoother normals by looking at 4 points that surround – those that are above, below, to the left, to the right. Here’s a picture showing the grid of the points that surround our current point. I’ve labelled the points we’ll be considering as A, B, C and D: We calculate the normals of each…
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Kinect Point Cloud Normals Rendering – Part 2

Having shown you how to create a 3D point cloud from a Kinect depth map in Part 1 I will now go on to explain how to calculate the normals for that point cloud and then render that in 2D by mapping the (x,y,z) normal vector values to R-G-B channel values. To calculate the normal for a given 3D point in the point cloud we will use the point directly to the left of it (i.e. at the point (x-1,y)) and the point directly above it (i.e. at the point (x,y-1)). We will create a triangle of the 3 points…
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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…
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