Linux下采集Kinect2图像数据（非ROS版）

准备

1. 安装cmake

$ sudo apt-get install build-essential cmake

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1. 安装libfreenect2，github上面有开源的安装包
2. 安装opencv，自行百度

获取数据

下面将给出c++获取数据的源码，是一个简单的程序。在引入相应头文件后，声明了初始化函数和获取数据函数，之后在main函数中进行测试。

在这里我使用的是libfreenect2自带的kinect2标定参数 
我们只获取了红外数据和深度数据，都是以cv::Mat存储的

#include <iostream>
#include <libfreenect2/libfreenect2.hpp>
#include <libfreenect2/frame_listener_impl.h>
#include <libfreenect2/registration.h>
#include <libfreenect2/packet_pipeline.h>
#include <libfreenect2/config.h>

#include <pcl/pcl_config.h>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>

#include <map>

/**
 * Get the value of a specified key from a std::map.
 * @param m the map
 * @param key the key
 * @param defaultValue the default value used if the key is not found
 * @return the value
 */
template<class K, class V>
inline V uValue(const std::map<K, V> & m, const K & key, const V & defaultValue = V())
{
    V v = defaultValue;
    typename std::map<K, V>::const_iterator i = m.find(key);
    if(i != m.end())
    {
        v = i->second;
    }
    return v;
}

/********** global variable begin ************/
int deviceId_;
libfreenect2::Freenect2* freenect2_;
libfreenect2::SyncMultiFrameListener* listener_;
libfreenect2::Freenect2Device* dev_;
libfreenect2::Registration * reg_;
//StereoCameraModel stereoModel_;
/********** global variable end ************/

bool init()
{
    libfreenect2::PacketPipeline* pipeline;
    pipeline = new libfreenect2::CpuPacketPipeline();

    std::cout << ">>> opening default device ..." << std::endl;
    dev_ = freenect2_->openDefaultDevice(pipeline);
    pipeline = 0;

    if(dev_)
    {
        std::cout << ">>> Had got default device " << std::endl;
        libfreenect2::Freenect2Device::Config config;
        config.EnableBilateralFilter = true;
        config.EnableEdgeAwareFilter = true;
        config.MinDepth = 0.3f;
        config.MaxDepth = 12.0f;
        dev_->setConfiguration(config);

        dev_->setColorFrameListener(listener_);
        dev_->setIrAndDepthFrameListener(listener_);

        dev_->start();

        std::cout << ">>&g