Capturing raw data from depth-sensing cameras

Now that you have installed the prerequisite libraries and drivers, we will demonstrate how to capture raw data from your depth-sensing camera.

How to do it...

To capture sensor data directly in a binary format, implement the following function:

void writeDepthBuffer(openni::VideoFrameRef depthFrame){
  static int depth_buffer_counter=0;
  char file_name [512];
  sprintf(file_name, "%s%d.bin", "depth_frame", depth_buffer_counter);
  openni::DepthPixel *depthPixels = new openni::DepthPixel[depthFrame.getHeight()*depthFrame.getWidth()];
  memcpy(depthPixels, depthFrame.getData(), depthFrame.getHeight()*depthFrame.getWidth()*sizeof(uint16_t));
  std::fstream myFile (file_name, std::ios::out |std::ios::binary);
  myFile.write ((char*)depthPixels, depthFrame.getHeight()*depthFrame.getWidth()*sizeof(uint16_t));
  depth_buffer_counter++;
  printf("Dumped Depth Buffer %d\n",depth_buffer_counter);
  myFile.close();
  delete...