Obtain 3D coordinates of an object detected through asus xtion pro live

Question

System: I am using OpenNI 2.2 and openCV 2.4.9 on a Windows 8.1 64 bit machine

I have an asus xtion pro live. This is a RGB and depth sensor that uses primesense technology. I want to use this device to extract the real world 3D coordinates of an object (say a ball) with the sensor's coordinates placed at (0,0,0). How do I go about it?

Answer 1

Have a look at the PointCloud Library. You will find an OpenNI Grabber2 at Version 1.7 which has a nice way to work with PointClouds. And here you will find a tutorial for an OpenNI 1 Grabber which works the same way.