openNI解析

openNI是点云获取的框架，它可以实现对采集设备的打开和数据段的采集.源代码里面的SimpleOpenNIViewer.cpp文件中，用代码实现了上述功能。openni_grabber.cpp文件中 测试了采集系统是否能正常使用，主要功能在run()函数中实现。

1.openni_grabber.cpp文件

#include "stdafx.h"
#include <pcl/io/openni_grabber.h>
 #include <pcl/visualization/cloud_viewer.h>
 #ifdef _WIN32
 # define sleep(x) Sleep((x)*1000)
 #endif
 class SimpleOpenNIViewer
 {
   public:
     SimpleOpenNIViewer () : viewer ("PCL OpenNI Viewer") {}


     void cloud_cb_ (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &cloud)
     {
       if (!viewer.wasStopped())
         viewer.showCloud (cloud);
     }


     void run ()
     {
       pcl::Grabber* interface = new pcl::OpenNIGrabber();


       boost::function<void (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr&)> f =
         boost::bind (&SimpleOpenNIViewer::cloud_cb_, this, _1);


       interface->registerCallback (f);


       interface->start ();


       while (!viewer.wasStopped())
       {
         boost::this_thread::sleep (boost::posix_time::seconds (1));
       }


       interface->stop ();
     }


     pcl::visualization::CloudViewer viewer;
 };


 int main ()
 {
   SimpleOpenNIViewer v;
   v.run ();
   return 0;
 }

2.SimpleOpenNIViewer.cpp文件

#include "stdafx.h"
#include <boost/thread/thread.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/common/time.h> //fps calculations
#include <pcl/io/openni_grabber.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/image_viewer.h>
#include <pcl/io/openni_camera/openni_driver.h>
#include <pcl/console/parse.h>
#include <pcl/visualization/mouse_event.h>
#include <vtkImageViewer.h>
#include <vtkImageImport.h>
#include <vector>
#include <string>


using namespace std;


#define SHOW_FPS 1
#if SHOW_FPS
#define FPS_CALC(_WHAT_) \
do \
{ \
    static unsigned count = 0;\
    static double last = pcl::getTime ();\
    double now = pcl::getTime (); \
    ++count; \
    if (now - last >= 1.0) \
    { \
      std::cout << "Average framerate("<< _WHAT_ << "): " << double(count)/double(now - last) << " Hz" <<  std::endl; \
      count = 0; \
      last = now; \
    } \
}while(false)
#else
#define FPS_CALC(_WHAT_) \
do \
{ \
}while(false)
#endif


//
template <typename PointType>
class SimpleOpenNIViewer
{
  public:
    typedef pcl::PointCloud<PointType> Cloud;
    typedef typename Cloud::ConstPtr CloudConstPtr;


    SimpleOpenNIViewer (pcl::OpenNIGrabber& grabber)
      : cl