Kinect RGB + Depth to .pcd format
I have tried the rgbd_registration package in which a source cloud (first frame) and a target cloud (another frame) in the form of a .pcd format are passed to the algorithm, the algorithm restores the RGB images from the .pcd file and detects and matches features between the two frames and then aligns the reconstructed 3D points between the two frames.
What I want to do is construct my own .pcd files that will contain depth and rgb images from a Kinect so I can pass it to this algorithm for alignment, instead of using their scenes.
Is there any tutorial or example on how I would be able to store both depth and RGB information into a pcd file?
Thanks for your help
Khalid