C++环境下Kinect采集图像和PCL点云数据

最新推荐文章于 2023-05-19 11:12:07 发布

Grack_skw

最新推荐文章于 2023-05-19 11:12:07 发布

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分类专栏： OpenCV Kinect

本文链接：https://blog.csdn.net/qq_35565669/article/details/106627639

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本文介绍了如何在C++环境中利用Kinect设备采集图像和PCL库处理点云数据。首先，需要编译Kinect和PCL库。通过Kinect获取cameraSpace的三维坐标点和colorSpace的RGB图像，将两者结合得到pointxyzrgb点云数据。CMakeLists.txt、definition.h、KinectPointcloud.cpp和main.cpp是实现过程的关键文件，详细步骤和代码解释有助于理解点云数据的采集和处理。最后，提供了在Python中读取PCD文件的参考资料。

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事先需要先编译好Kinect和PCL的库

先用Kinect获取视野里cameraSpace的三维坐标点和colorSpace的rgb图像，因为这两个数据都是depthFrame map过去的，所以这两组点可以看做是一一对应的，把三维坐标和颜色结合就能得到点云的pointxyzrgb数据了。

CMakeLists.txt文件如下：


# cmake needs this line
cmake_minimum_required(VERSION 3.1)

# Enable C++11
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED TRUE)

#Define project name
project(robotCalibrate)

set(KINECT_INC "C:\\Program Files\\Microsoft SDKs\\Kinect\\v2.0_1409\\inc")
set(KINECT_LIB "C:\\Program Files\\Microsoft SDKs\\Kinect\\v2.0_1409\\Lib\\x64")



find_package(OpenCV REQUIRED)
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS} ${KINECT_INC} )
message("${PCL_LIBRARIES}")

link_directories(${PCL_LIBRARY_DIRS} ${KINECT_LIB})
add_definitions(${PCL_DEFINITIONS})

add_executable(robotCalibrate main.cpp lib.cpp definition.h KinectPointcloud.cpp)
target_link_libraries(robotCalibrate ${PCL_LIBRARIES} ${OpenCV_LIBS} kinect20.lib)

definition.h文件里如下

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <pcl/visualization/pcl_visualizer.h>
#include <kinect.h>

using namespace std;

typedef pcl::PointXYZRGB PointRGB;
typedef pcl::PointCloud<pcl::PointXYZ> PointCloudXYZ;
typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloudRGB;

#define depthWidth 512
#define depthHeight 424
#define rgbWidth 1920
#define rgbHeight 1080
#define depthSize 424 * 512
#define rgbSize 1920 * 1080

class KinectPointcloud
{

public:

	template<class Interface>
	inline void SafeRelease(Interface *& pInterfaceToRelease);

	KinectPointcloud();
	void getPointcloudData();
	PointCloudRGB::Ptr getPointcloud();
	ColorSpacePoint* colorSpacePts = new ColorSpacePoint[depthSize];     // Maps depth pixels to rgb pixels
	CameraSpacePoint* cameraSpacePts = new CameraSpacePoint[depthSize];    // Maps depth pixels to 3d coordinates
	cv::Mat getRGBImg();
	cv::Mat getDepthImg();
	~KinectPointcloud();

private:
	IKinectSensor* _sensor = nullptr;

	std::string _filepath;
	PointCloudRGB::Ptr _cloud = PointCloudRGB::Ptr(new PointCloudRGB);
	cv::Mat _rgbImg;
	cv::Mat _depthImg;
	PointRGB _neckPoint;

};

template<