用OpenNI获取深度相机的IR流或彩色留或深度流，对于深度，可以设置所获取的深度范围。可以将深度图转为点云以OBJ或PCD格式输出。-Get the depth camera with OpenNI IR stream flow or color or depth stay for depth, you can set the depth range acquired. Depth map can be converted to point cloud to OBJ or PCD format.