知微传感Dkam系列3D相机PCL应用篇：PCL读入3D相机含颜色的点云并显示

PCL读入含颜色信息的点云

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；
• 知微传感Dkam系列3D相机可以应用于定位分拣、焊接焊缝提取、逆向建模、检测测量等领域
• 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相机含有RGB信息的点云

• PCL配置方法另请查阅
• PCL在线读入点云的例程可以参考作者的其他文章
• 本例程基于WIN10+VisualStudio2019+DkamSDK_1.6.72+PCL1.12.0,采用C++语言

// Dkam_PCL_Con.cpp : 此文件包含 "main" 函数。程序执行将在此处开始并结束。

#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>
#include <pcl/visualization/pcl_visualizer.h>

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


	std::vector<DiscoveryInfo> discovery_info;
	Discovery discovery;
	GigeCamera camera;

	GigeStream* pointgigestream = NULL;
	GigeStream* graygigestream = NULL;
	GigeStream* rgbgigestream = NULL;
	std::vector<DiscoveryInfo>().swap(discovery_info);

	//********************************************查询相机****************************************************
	//查询局域网内的3D相机
	int camer_num = discovery.DiscoverCamera(&discovery_info);
	std::cout << "局域网内共有" << camer_num << "台相机" << std::endl;

	//显示局域网内相机的IP
	for (int i = 0; i < camer_num; i++)
	{
		std::cout << "局域网内相机的IP为:" << discovery.ConvertIpIntToString(discovery_info[i].camera_ip) << std::endl;
	}

	//********************************************连接相机****************************************************
	//选定相机
	int k = -1;
	for (int i = 0; i < camer_num; i++)
	{
		if (strcmp((discovery.ConvertIpIntToString(discovery_info[i].camera_ip)), "192.168.30.127") == 0)
		{
			k = i;
			std::cout << "将连接第" << k + 1 << "台相机" << std::endl;
		}
		else
		{
			std::cout << "局域网内无该IP的相机" << std::endl;
		}
	}

	//********************************************采集数据****************************************************
	int connect = camera.CameraConnect(&discovery_info[k]);
	if (connect == 0)
	{
		//获取当前红外相机的宽和高
		int width = -1;
		int height = -1;
		std::cout << "获取相机红外图的宽和高。。。" << std::endl;
		int height_gray = camera.GetCameraHeight(&height, 0);
		int width_gray = camera.GetCameraWidth(&width, 0);
		std::cout << "camera  Grey width:" << width << "---Grey height:" << height << std::endl;

		//获取当前RGB相机的宽和高
		int width_RGB = -1;
		int height_RGB = -1;
		std::cout << "获取相机RGB图的宽和高。。。" << std::endl;
		int height_rgb = camera.GetCameraHeight(&height_RGB, 1);
		int width_rgb = camera.GetCameraWidth(&width_RGB, 1);
		std::cout << "camera RGB width:" << width_RGB << "-----RGB height:" << height_RGB << 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);

		//定义RGB数据大小
		PhotoInfo* RGB_data = new PhotoInfo;
		RGB_data->pixel = new char[width_RGB * height_RGB * 3];
		memset(RGB_data->pixel, 0, width_RGB * height_RGB * 3);


		//开启数据流通道(0:红外 1:点云 2:RGB)
		int stream_point = camera.StreamOn(1, &pointgigestream);
		if (stream_point == 0)
		{
			std::cout << "点云通道打开成功！" << std::endl;
		}
		else
		{
			std::cout << "点云通道打开失败！！！" << std::endl;
		}

		//打开RGB数据流通道
		int stream_RGB = camera.StreamOn(2, &rgbgigestream);
		if (stream_RGB == 0)
		{
			std::cout << "RGB图通道打开成功！" << std::endl;
		}
		else
		{
			std::cout << "RGB图通道打开失败！！！" << std::endl;
		}

		//开始接受数据
		int acquistion = camera.AcquisitionStart();
		if (acquistion == 0)
		{
			std::cout << "可以开始接受数据！" << std::endl;
		}

		//刷新缓冲区数据
		pointgigestream->FlushBuffer();
		graygigestream->FlushBuffer();
		rgbgigestream->FlushBuffer();

		//**********************************************采集数据***************************************
		//采集点云
		int capturePoint = -1;
		capturePoint = pointgigestream->TimeoutCapture(point_data, 3000000);
		if (capturePoint == 0)
		{
			std::cout << "点云接收成功！" << std::endl;
		}
		else
		{
			std::cout << "点云接收失败！！！" << std::endl;
			std::cout << "失败代号：" << capturePoint << std::endl;
		}

		//采集RGB
		int captureRGB = -1;
		captureRGB = rgbgigestream->TimeoutCapture(RGB_data, 3000000);
		if (captureRGB == 0)
		{
			std::cout << "RGB接收成功！" << std::endl;
		}
		else
		{
			std::cout << "RGB接收失败！！！" << std::endl;
			std::cout << "失败代号：" << capturePoint << std::endl;
		}
		
		//**********************************************融合RGB和点云***************************************
		std::cout << "融合点云和RGB信息..." << std::endl;
		// 开辟内存，存放融合后的数据
		float* rgb_cloud = (float*)malloc(width * height * 6 * sizeof(float));
		//融合，该API由知微传感提供
		int pointRGB = camera.FusionImageTo3D(*RGB_data, *point_data, rgb_cloud);


		//****************************************将相机数据转化为PCL中可读**********************************
		std::cout << "将相据转化为PCL中可读..." << std::endl;
		// 定义pcl数据
		pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudRGB(new pcl::PointCloud<pcl::PointXYZRGB>);
		for (int i = 0; i < (int)(point_data->pixel_width * point_data->pixel_height); i++)
		{
			pcl::PointXYZRGB temp;
			temp.x = rgb_cloud[6 * i + 0];
			temp.y = rgb_cloud[6 * i + 1];
			temp.z = rgb_cloud[6 * i + 2];
			temp.r = rgb_cloud[6 * i + 3];
			temp.g = rgb_cloud[6 * i + 4];
			temp.b = rgb_cloud[6 * i + 5];
			cloudRGB->push_back(temp);		
		}

		//保存点云
		std::cout << "保存含RGB信息的点云..." << std::endl;
		pcl::io::savePCDFile("D:/Zhisensor/Works/3DCode/Dkam_PCL_PcRgb/Output/PcRgb.pcd", *cloudRGB);

		//****************************************显示含RGB的点云**********************************
		std::cout << "显示含RGB信息的点云..." << std::endl;
		pcl::visualization::PCLVisualizer::Ptr RGBViewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
		pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloudRGB); //创建一个颜色处理对象
		RGBViewer->setBackgroundColor(0, 0, 0);
		RGBViewer->addPointCloud<pcl::PointXYZRGB>(cloudRGB, rgb, "rgb cloud");
		RGBViewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "rgb cloud");
		RGBViewer->addCoordinateSystem(1.0);
		RGBViewer->initCameraParameters();

		while (!RGBViewer->wasStopped())
		{
			RGBViewer->spin();
		}

		//**********************************************结束工作***************************************
		memset(point_data->pixel, 0, width * height * 6);
		memset(RGB_data->pixel, 0, width_RGB * height_RGB * 3);

		//释放内存
		delete[] point_data->pixel;
		delete point_data;
		delete[] RGB_data->pixel;
		delete RGB_data;

		//关闭数据流通道 
		int streamoff_point = camera.StreamOff(1, pointgigestream);
		int streamoff_rgb = camera.StreamOff(2, rgbgigestream);
		//断开相机连接
		int disconnect = camera.CameraDisconnect();

		std::cout << "工作结束！！！！！！" << std::endl;

	}
	return 0;

}

运行结果

• 可以实现点云和RGB的融合，并且成功导入到PCL中，并显示
  

后记

• 知微传感Dkam系列3D相机可以应用于定位分拣、焊接引导、逆向建模、检测测量等领域
• 如有问题，欢迎与我深入交流：微信号：liu_zhisensor