Kinect2获取彩色点云原始数据

1.源代码 

#include"kinect2_grabber.h"
//---------------------------------
#include <kinect.h>
#include<pcl\io\pcd_io.h>
#include <pcl/filters/conditional_removal.h>//滤波
#include <pcl/visualization/cloud_viewer.h> //可视化
#include <pcl/visualization/pcl_visualizer.h>
typedef pcl::PointXYZRGBA PointType;

int main()
{
	int c = 0;
	int total = 0;//文件名
	//pcl::PointCloud<PointType> cloud_filtered;// 按范围过滤后的点云

	boost::shared_ptr<pcl::visualization::PCLVisualizer> m_viewer;

	//显示窗口初始化
	m_viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
	m_viewer->setBackgroundColor(0, 0, 0);//设置背景颜色
	m_viewer->initCameraParameters();
	//m_viewer->addCoordinateSystem();//添加红绿蓝坐标轴
	m_viewer->createInteractor();


	// 获取Kinect设备	
	// Point Cloud
	pcl::PointCloud<PointType>::ConstPtr pointCloud_XYZRGBA;  //指针变量

	// Retrieved Point Cloud Callback Function 检测到的点云回调函数
	boost::mutex mutex; //并发编程互斥锁
	boost::function<void(const pcl::PointCloud<PointType>::ConstPtr&)> function = [&pointCloud_XYZRGBA, &mutex](const pcl::PointCloud<PointType>::ConstPtr& ptr) { //只能用ConstPtr，不能用Ptr
		boost::mutex::scoped_lock lock(mutex);
		/* Point Cloud Processing */
		pointCloud_XYZRGBA = ptr->makeShared();
		//ptr->makeShared() = NULL;
	};

	boost::shared_ptr<pcl::Grabber> grabberForKinect = boost::shared_ptr<pcl::Grabber>(new pcl::Kinect2Grabber);// Kinect2Grabber
	boost::signals2::connection connection = grabberForKinect->registerCallback(function); // Register Callback Function
	grabberForKinect->start();  //Start Grabber

	while (!m_viewer->wasStopped()) {
		// Update Viewer

		c++;

		m_viewer->spinOnce(1); //调用交互程序并更新屏幕一次。
		boost::mutex::scoped_try_lock lock(mutex);

		//cloud_filtered = filterByScope(pointCloud_XYZRGBA, Z_nearby, Z_faraway, X_left, X_right, Y_bottom, Y_top);//截取对应范围图像

		if (lock.owns_lock() && pointCloud_XYZRGBA) {
			//cloud_filtered = filterByScope(pointCloud_XYZRGBA, Z_nearby, Z_faraway, X_left, X_right, Y_bottom, Y_top);
			//5 显示 Point Cloud
			if (!m_viewer->updatePointCloud(pointCloud_XYZRGBA->makeShared(), "cloud")) {//pointCloud_XYZRGBA是指针类型，不能用( . )运算符
				m_viewer->addPointCloud(pointCloud_XYZRGBA->makeShared(), "cloud");
			}
			if (c % 10 == 0) {//每隔一段时间保存一次图片
				//存储图片。
				char name[100];
				sprintf(name, "名称.pcd", total++);
				pcl::io::savePCDFileASCII(name, *pointCloud_XYZRGBA);//以.pcd的格式保存点云数据到磁盘
			}
		}
	}//while


}

2.头文件kinect2_grabber.h

#pragma once
#pragma once
#pragma once
// Kinect2Grabber is pcl::Grabber to retrieve the point cloud data from Kinect v2 using Kinect for Windows SDK 2.x.
// This source code is licensed under the MIT license. Please see the License in License.txt.

#ifndef KINECT2_GRABBER
#define KINECT2_GRABBER

#define NOMINMAX
#include <Windows.h>
#include <Kinect.h>

#include <pcl/io/boost.h>
#include <pcl/io/grabber.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>


namespace pcl
{
	struct pcl::PointXYZ;
	struct pcl::PointXYZI;
	struct pcl::PointXYZRGB;
	struct pcl::PointXYZRGBA;
	template <typename T> class pcl::PointCloud;

	template<class Interface>
	inline void SafeRelease(Interface *& IRelease)
	{
		if (IRelease != NULL) {
			IRelease->Release();
			IRelease = NULL;
		}
	}

	class Kinect2Grabber : public pcl::Grabber
	{
	public:
		Kinect2Grabber();
		virtual ~Kinect2Grabber() throw ();
		virtual void start();
		virtual void stop();
		virtual bool isRunning() const;
		virtual std::string getName() const;
		virtual float getFramesPerSecond() const;

		typedef void (signal_Kinect2_PointXYZ)(const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZ>>&);
		typedef void (signal_Kinect2_PointXYZI)(const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZI>>&);
		typedef void (signal_Kinect2_PointXYZRGB)(const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGB>>&);
		typedef void (s