pnd2pcd_batch | Small utility to convert pair

pnd2pcd_batch is a C++ library. pnd2pcd_batch has no bugs, it has no vulnerabilities and it has low support. You can download it from GitHub.

png2pcd_batch - simple command line utility to convert depth and rgb frames from png format to PCL pointcloud. There are 2 execution mode: using file with association information i.e. containing rgb-depth png files correspondence or just providing folders that contain depth and rgb frames ( not reccommended ). In 1st case you should anyhow create associate file by yourself (for further details check description of parse_freiburg function) In 2nd case - correspondence strictly depends on file names, and you should check it twice, to avoid situation when selected depth frame is not appropriate for rgb frame. ( add sorting to filenames vector using custom predicate ). All dataset related parameters are incapsulated in Intr structure ( intrinsics ). There are: width, height, fx, fy, cx, cy, scale_factor. Usually depth data is saved as unsigned short ( 16 bit ), but in pcl::PointXYZ you have to re-scale it to float - metric measurment. Appropriate intrinsics should be written to file cam_params.cfg otherwise default values will be used ( which may lead to invalid output data ).