Quick PCL commands to capture data using Kinect

$ pcl_openni_viewer
 press 'r' to visualize the point cloud. Pointcloud appears inverted manner. have to use mouse to see in correct orientation.

you can see 2 windows (PCL OpenNI cloud, PCL OpenNI Image)

$ pcl_openni_save_image  (saves depth and RGB image in .tiff format... You have to stop it if you want to save only 1 frame.)


View the depth image in octave:

$octave
octave:1> imshow('1_1_depth.tiff' , [])

$ pcl_openni_grabber_example
Warning: USB events thread - failed to set priority. This might cause loss of data...
<Esc>, 'q', 'Q': quit the program
' ': pause
's': save


$ pcl_viewer pcd_file.pcd
(press r to view, 5 to see color)