Kinect2.0点云数据获取

合集 - SLAM(55)
1.个人资源索引2.SLAM学习笔记（1）基本概念3.SLAM学习笔记（2）SLAM算法4.[ROS]2 尝试编译OrbSLAM5.[ROS]1 小乌龟6.SLAM最近的工作7.SLAM学习笔记（3）相关概念8.[SLAM]2D激光线特征提取9.[SLAM] GMapping SLAM源码阅读（草稿）10.[QGLViewer]First Demo11.SLAM数据集12.[SLAM]2D激光扫描匹配方法13.[g2o]一个备忘14.[ROS] slam_gmapping15.[ROS]3 Linux编程练习16.Linux学习和ROS安装（1）17.小豆包的学习之旅：机器人定位18.小豆包的学习之旅：传感器观测模型19.Kinect2.0相机标定20.小豆包的学习之旅：里程计运动模型21.小豆包的学习之旅：入门篇
22.Kinect2.0点云数据获取
23.[硬件]Robot运动控制24.[硬件]Urg_viewer数据读取25.[硬件]三维点云数据获取26.Kinect2.0获取数据27.ndt histogram_direction28.rplidar & hector slam without odometry29.rplidar测试30.[原创]NDT方法在SLAM中的应用31.[SLAM]Karto SLAM算法学习（草稿）32.ROS学习备忘33.[ROS]激光驱动安装34.OrbSLAM2采集点云数据35.Cartographer源码阅读(8)：imu_tracker36.[硬件]点云数据采集237.Cartographer源码阅读(9)：图优化的前端——闭环检测38.Cartographer源码阅读(7)：轨迹推算和位姿推算的原理39.Ethzasl MSF源码阅读(3)：MSF_Core和PoseMeasurement40.Ethzasl MSF源码阅读(2)：百川汇海41.Ethzasl MSF源码阅读(1)：程序入口和主题订阅42.Cartographer源码阅读(6)：LocalTrajectoryBuilder和PoseExtrapolator43.Cartographer源码阅读(5)：PoseGraph位姿图44.Cartographer源码阅读(4)：Node和MapBuilder对象245.Cartographer源码阅读(3)：程序逻辑结构46.Cartographer源码阅读(2)：Node和MapBuilder对象47.Cartographer源码阅读(1)：程序入口48.实时Cartographer测试(1) - rplidar49.Cartographer安装50.ROS安装（2）51.[ROS]一些传感器数据读取融合问题的思考52.小豆包的学习之旅：占用概率栅格地图和cost-map53.小豆包的学习之旅：开发记录54.[概述]移动机器人自主探索55.MRPT编译
收起

接上一篇：Kinect2.0获取数据

http://blog.csdn.net/jiaojialulu/article/details/53087988

博主好细心，代码基本上帖过来就可以用，注释掉的部分改成文件输出就可以了！

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#include "stdafx.h"
#include "kinect.h"
#include <iostream>
#include <opencv2/core/core.hpp> 
#include <opencv2/highgui/highgui.hpp> 
using namespace cv;
using namespace std;
 
// 安全释放指针
template<class Interface>
inline void SafeRelease(Interface *& pInterfaceToRelease)
{
    if (pInterfaceToRelease != NULL)
    {
        pInterfaceToRelease->Release();
        pInterfaceToRelease = NULL;
    }
}
 
int _tmain(int argc, _TCHAR* argv[])
{
    // 获取Kinect设备
    IKinectSensor* m_pKinectSensor;
    HRESULT hr;
    hr = GetDefaultKinectSensor(&m_pKinectSensor);
    if (FAILED(hr))
    {
        return hr;
    }
 
    IMultiSourceFrameReader* m_pMultiFrameReader=NULL;
    if (m_pKinectSensor)
    {
        hr = m_pKinectSensor->Open();
        if (SUCCEEDED(hr))
        {
            // 获取多数据源到读取器 
            hr = m_pKinectSensor->OpenMultiSourceFrameReader(
                FrameSourceTypes::FrameSourceTypes_Color |
                FrameSourceTypes::FrameSourceTypes_Infrared |
                FrameSourceTypes::FrameSourceTypes_Depth,
                &m_pMultiFrameReader);
        }
    }
 
    if (!m_pKinectSensor || FAILED(hr))
    {
        return E_FAIL;
    }
    // 三个数据帧及引用
    IDepthFrameReference* m_pDepthFrameReference = NULL;
    IColorFrameReference* m_pColorFrameReference = NULL;
    IInfraredFrameReference* m_pInfraredFrameReference = NULL;
    IInfraredFrame* m_pInfraredFrame = NULL;
    IDepthFrame* m_pDepthFrame = NULL;
    IColorFrame* m_pColorFrame = NULL;
    // 三个图片格式
    Mat i_rgb(1080, 1920, CV_8UC4);      //注意：这里必须为4通道的图，Kinect的数据只能以Bgra格式传出
    Mat i_depth(424, 512, CV_8UC1);
    Mat i_ir(424, 512, CV_16UC1);
 
    UINT16 *depthData = new UINT16[424 * 512];
    IMultiSourceFrame* m_pMultiFrame = nullptr;
    while (true)
    {
        // 获取新的一个多源数据帧
        hr = m_pMultiFrameReader->AcquireLatestFrame(&m_pMultiFrame);
        if (FAILED(hr) || !m_pMultiFrame)
        {
            //cout << "!!!" << endl;
            continue;
        }
 
        // 从多源数据帧中分离出彩色数据，深度数据和红外数据
        if (SUCCEEDED(hr))
            hr = m_pMultiFrame->get_ColorFrameReference(&m_pColorFrameReference);
        if (SUCCEEDED(hr))
            hr = m_pColorFrameReference->AcquireFrame(&m_pColorFrame);
        if (SUCCEEDED(hr))
            hr = m_pMultiFrame->get_DepthFrameReference(&m_pDepthFrameReference);
        if (SUCCEEDED(hr))
            hr = m_pDepthFrameReference->AcquireFrame(&m_pDepthFrame);
        if (SUCCEEDED(hr))
            hr = m_pMultiFrame->get_InfraredFrameReference(&m_pInfraredFrameReference);
        if (SUCCEEDED(hr))
            hr = m_pInfraredFrameReference->AcquireFrame(&m_pInfraredFrame);
 
        // color拷贝到图片中
        UINT nColorBufferSize = 1920 * 1080 * 4;
        if (SUCCEEDED(hr))
            hr = m_pColorFrame->CopyConvertedFrameDataToArray(nColorBufferSize, reinterpret_cast<BYTE*>(i_rgb.data), ColorImageFormat::ColorImageFormat_Bgra);
 
        // depth拷贝到图片中
        if (SUCCEEDED(hr))
        {
            hr = m_pDepthFrame->CopyFrameDataToArray(424 * 512, depthData);
            for (int i = 0; i < 512 * 424; i++)
            {
                // 0-255深度图，为了显示明显，只取深度数据的低8位
                BYTE intensity = static_cast<BYTE>(depthData[i] % 256);
                reinterpret_cast<BYTE*>(i_depth.data)[i] = intensity;
            }
            ICoordinateMapper*      m_pCoordinateMapper=NULL;
            hr = m_pKinectSensor->get_CoordinateMapper(&m_pCoordinateMapper);
            ColorSpacePoint* m_pColorCoordinates = new ColorSpacePoint[512 * 424];
            HRESULT hr = m_pCoordinateMapper->MapDepthFrameToColorSpace(512 * 424, depthData, 512 * 424, m_pColorCoordinates);
         
            Mat i_depthToRgb(424, 512, CV_8UC4);
            if (SUCCEEDED(hr))
            {
                for (int i = 0; i < 424 * 512; i++)
                {
                    ColorSpacePoint p = m_pColorCoordinates[i];
                    if (p.X != -std::numeric_limits<float>::infinity() && p.Y != -std::numeric_limits<float>::infinity())
                    {
                        int colorX = static_cast<int>(p.X + 0.5f);
                        int colorY = static_cast<int>(p.Y + 0.5f);
 
                        if ((colorX >= 0 && colorX < 1920) && (colorY >= 0 && colorY < 1080))
                        {
                            i_depthToRgb.data[i * 4] = i_rgb.data[(colorY * 1920 + colorX) * 4];
                            i_depthToRgb.data[i * 4 + 1] = i_rgb.data[(colorY * 1920 + colorX) * 4 + 1];
                            i_depthToRgb.data[i * 4 + 2] = i_rgb.data[(colorY * 1920 + colorX) * 4 + 2];
                            i_depthToRgb.data[i * 4 + 3] = i_rgb.data[(colorY * 1920 + colorX) * 4 + 3];
                        }
                    }
                }
            }
            imshow("rgb2depth", i_depthToRgb);
            if (waitKey(1) == VK_ESCAPE)
                break;
            CameraSpacePoint* m_pCameraCoordinates = new CameraSpacePoint[512 * 424];
            if (SUCCEEDED(hr))
            {
                HRESULT hr = m_pCoordinateMapper->MapDepthFrameToCameraSpace(512 * 424, depthData, 512 * 424, m_pCameraCoordinates);
            }
            if (SUCCEEDED(hr))
            {
                for (int i = 0; i < 512 * 424; i++)
                {
                    CameraSpacePoint p = m_pCameraCoordinates[i];
                    if (p.X != -std::numeric_limits<float>::infinity() && p.Y != -std::numeric_limits<float>::infinity() && p.Z != -std::numeric_limits<float>::infinity())
                    {
                        float cameraX = static_cast<float>(p.X);
                        float cameraY = static_cast<float>(p.Y);
                        float cameraZ = static_cast<float>(p.Z);
 
                        //cout << "x: " << cameraX << "y: " << cameraY << "z: " << cameraZ << endl;
                        //GLubyte *rgb = new GLubyte();
                        //rgb[2] = i_depthToRgb.data[i * 4 + 0];
                        //rgb[1] = i_depthToRgb.data[i * 4 + 1];
                        //rgb[0] = i_depthToRgb.data[i * 4 + 2];
                        //// 显示点
                        //glColor3ubv(rgb);
                        //glVertex3f(cameraX, -cameraY, cameraZ);
                    }
                }
            }
             
        }
 
 
        // 显示
        /*imshow("rgb", i_rgb);
        if (waitKey(1) == VK_ESCAPE)
            break;*/
        imshow("depth", i_depth);
        if (waitKey(1) == VK_ESCAPE)
            break;
 
         
        // 释放资源
        SafeRelease(m_pColorFrame);
        SafeRelease(m_pDepthFrame);
        SafeRelease(m_pInfraredFrame);
        SafeRelease(m_pColorFrameReference);
        SafeRelease(m_pDepthFrameReference);
        SafeRelease(m_pInfraredFrameReference);
        SafeRelease(m_pMultiFrame);
    }
    // 关闭窗口，设备
    cv::destroyAllWindows();
    m_pKinectSensor->Close();
    std::system("pause");
 
    return 0;
}

我们实验室的一帧数据，哈哈！　　

上面的代码有内存泄露，程序运行一段时间把我的机器物理内存都占满了，下面代码更新一下！

代码在这里

posted @   太一吾鱼水  阅读(9412)  评论(2)  编辑  收藏  举报
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