In this project, we create a simple QT gui that permits the user to see the depth and color data from an RGB-D camera. A third view represents the color information over the depth data, giving the sensation of a 2d view of the point cloud. The user can threshold the image using the x and y axis of the image and the depth information.

The tool can save in different formats such as ONI, PCD, PNG, JPG, YML, etc. depending on the needs of the user. Also, it is possible to save them all at once if it is needed, making it possible to use this data in projects with different data input.

This tool is freely available here with Openni2 and here with Openni1.