How to get the Point Cloud about pykinect2

[h-jia]

Also curious about the point cloud. Any fork to fill this?

[avpai]

Same here. Would really like to know how to get point cloud. If anyone got any ideas, please share.

[sarabsethi]

me too, please!

[LangeRobert]

Use the depth image as source of the polar points.

x = r * sin(a)*cos(b)
y= r * sin(a)sin(b)
z= rcos(a)

The angles a and b are results of the index and the FOV(70.6° x 60°):

for w in range(width):
    a = FOV_H * (i / width) - (FOV_H / 2)
for h in range(height):
    b =FOV_V * (i / height) - (height / 2)