Kinect for Windows is different from the Kinect for XBOX 360. On Windows, maybe the Microsoft Kinect SDK could be used to acquire the images, making a driver in CameraRGBD source file.
Here another answer that may help:
"The only experience I had with the K4W is that it didn't work out-of-the-box with ROS, then we used Kinect for Xbox 360 or Xtion instead. However, we still have a K4W here, so I just tested it with the instructions here: http://www.iheartrobotics.com/2012/06/k4w-testing.html and the demos work. I have built rtabmap with this modified libfreenect library and it works (with a minor change that I just commited). Maybe you will need to rebuild the freenect_launch ros package (http://wiki.ros.org/freenect_launch) with the libfreenect built with the link above. "
You could check to make it run with freenect under Windows, then no code change would be required in rtabmap.
Hi! Thanks for your tips and pointers, I started looking into your code but then I tried again with OpenNI and I finally had success with the following setup and installation sequence:
Windows 8.1, 64-bit
Microsoft Kinect SDK v1.8 with dependencies
Uninstalled Kinect driver and removed driver files.
One more thing, I have a little bit of an issue loading meshes (PLY files) to a decent viewer, tried Meshlab and got 31M vertices but 0 faces. Is this an issue with my data or is there another viewer that you recommend using instead?
Looking forward to proceeding with this by mounting my Kinect to my robotic chassis!
By default RTAB-Map exports only the points (not the polygons). To export a mesh, the option "Meshing using GP3..." in the Export dialog must be checked (older RTAB-Map versions have this parameter in Preferences->3DRendering). However, the mesh generation is pretty basic (using the PCL approach described here). You may want to generate yourself the mesh from the point cloud.
I put some screenshots here:
The last screenshot is with the option MLS post-processing checked to smooth the surface before meshing. See this PCL tutorial about smoothing.