知微传感Dkam系列3D相机PCL应用篇：PCL读入3D相机数据

PCL读入Dkam系列3D相机数据

写在前面

• PCL(Point Cloud Library):是一个开源的算法库，用C++编写，是当前点云处理的得力工具；
• 在使用PCL处理3D相机输出的点云中，可能遇到问题，因此编写此文章；
• 未尽问题欢迎与我深入交流：微信号：liu_zhisensor。

PCL在线读入Dkam系列3D相机数据

• 本例程基于WIN10+VisualStudio2019+DkamSDK_1.6.72+PCL1.12.0,采用C++语言;
• PCL配置方法另请查阅.

#include <iostream>
#include<cstring>

//DkamSDK
#include"dkam_discovery.h"
#include"dkam_gige_camera.h"
#include"dkam_gige_stream.h"

//PCL
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

int main()
{
    std::cout << "Hello Zhisensor!" << std::endl;
    std::cout << "微信：liu_zhisensor" << std::endl;


	std::vector<DiscoveryInfo> discovery_info;
	Discovery discovery;
	GigeCamera camera;
	GigeStream* pointgigestream = NULL;

	std::vector<DiscoveryInfo>().swap(discovery_info);

	//****************************************查找局域网内相机********************************************
	int k = -1;
	//查找相机
	int camer_num = discovery.DiscoverCamera(&discovery_info);
	std::cout << "局域网内相机数量为：" << camer_num << std::endl;
	//对局域网内的相机进行排序0：IP 1:相机序列号
	int camer_sort = discovery.CameraSort(&discovery_info, 1);
	std::cout << "camer_sort=" << camer_sort << std::endl;
	//显示局域网内相机的IP	
	for (int i = 0; i < camer_num; i++) 
	{
		std::cout << "IP为:" << discovery.ConvertIpIntToString(discovery_info[i].camera_ip) << std::endl;
		if (strcmp((discovery.ConvertIpIntToString(discovery_info[i].camera_ip)), "192.168.30.108") == 0) 
		{
			k = i;
		}
	}

	//****************************************连接局域网内指定的相机******************************************
	//连接相机，相机的IP与上面的IP相同，若想获取相机IP可以先通过知微传感提供的DkamViewer软件查询
	int connect = camera.CameraConnect(&discovery_info[k]);
	//如果connect为0则表示连接成功，如果其他值则表示失败，请查看连接状态或者相机状态灯
	std::cout << "connect=" << connect << std::endl;


	//****************************************获取相机采集到的数据********************************************
	if (connect == 0)
	{
		//获取当前红外相机的宽和高
		int width = -1;
		int height = -1;
		int height_gray = camera.GetCameraHeight(&height, 0);
		int width_gray = camera.GetCameraWidth(&width, 0);
		std::cout << "相机灰度图的宽:" << width << std::endl;
		std::cout << "相机灰度图的宽:" << height << std::endl;


		//定义点云数据大小
		PhotoInfo* point_data = new PhotoInfo;
		point_data->pixel = new char[width * height * 6];
		memset(point_data->pixel, 0, width * height * 6);
		//设置触发模式 0 连拍模式  1 触发模式
		int tirggerMode = camera.SetTriggerMode(1);
		std::cout << "tirggerMode:" << tirggerMode << std::endl;
		//开始点云的数据流通道(1:点云 0：红外 2:RGB)
		int stream_point = camera.StreamOn(1, &pointgigestream);
		std::cout << "stream_point=" << stream_point << std::endl;
		//开始接收数据
		int acquistion = camera.AcquisitionStart();
		std::cout << "acquistion=" << acquistion << std::endl;
		//刷新点云数据流通道缓冲区的数据
		pointgigestream->FlushBuffer();
		//相机固件版本号
		std::cout << "camera 1 version" << camera.CameraVerion(discovery_info[k]) << std::endl;
		//设置触发模式下触发帧数
		int triggerCount = camera.SetTriggerCount();
		std::cout << "triggerCount:" << triggerCount << std::endl;
		//采集点云数据
		int capturePoint = -1;
		capturePoint = pointgigestream->TimeoutCapture(point_data, 3000000);
		std::cout << "capture_Pointimage: " << capturePoint << std::endl;


		//***************************将相机数据转化为PCL中可读的点云文件******************************

		float *float_cloud = (float*)malloc(width * height * 3 * sizeof(float));
		memset((void *)float_cloud,0,width * height * 3 * sizeof(float));

		camera.Convert3DPointFromCharToFloat(*point_data, float_cloud);

		pcl::PointCloud<pcl::PointXYZ>::Ptr PointCloud_PCL(new pcl::PointCloud<pcl::PointXYZ>);
		PointCloud_PCL->width = width;
		PointCloud_PCL->height = height;
		PointCloud_PCL->points.resize(PointCloud_PCL->width * PointCloud_PCL->height);

		for (size_t i = 0; i < PointCloud_PCL->points.size(); ++i)
		{
			
			PointCloud_PCL->points[i].x = float_cloud[3 * i + 0];
			PointCloud_PCL->points[i].y = float_cloud[3 * i + 1];
			PointCloud_PCL->points[i].z = float_cloud[3 * i + 2];

		}
		//保存点云
		pcl::io::savePCDFile("D:/Zhisensor/Works/3DCode/Dkam_PCL_Con/Outputtestface.pcd", *PointCloud_PCL);
		
      //***************************释放内存，关闭通道，断开相机******************************
		memset(point_data->pixel, 0, width * height * 6);
		//释放内存
		delete[] point_data->pixel;
		delete point_data;
		//关闭点云数据流通道
		int streamoff_point = camera.StreamOff(1, pointgigestream);
		std::cout << "streamoff_point=" << streamoff_point << std::endl;
		//断开相机
		int disconnect = camera.CameraDisconnect();
		std::cout << "disconnect=" << disconnect << std::endl;
	}
	return 0;

}

将保存点云用cloudcompare打开保存的如图

实际场景