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Making Things See by Greg Borenstein

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Viewing the Point Cloud in Color

Up to this point, we’ve been looking at the point cloud in black and white. More accurately, we’ve only been looking at it in white. We’ve been drawing white points against a black background. Where the point cloud has appeared to be shades of gray, it’s only been because of the density of white dots overlapping and creating an illusion.

We learned in the last chapter that the Kinect also has a color camera that we can access. Wouldn’t it be great if we could use that color information to paint our point cloud so that it had realistic color? There’s an obstacle to this, though. We also learned in that chapter that the color data and the depth data don’t quite line up. In Figure 2-11, we compared the color image ...

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