Kinect2.0点云数据获取

接上一篇：Kinect2.0获取数据

http://blog.csdn.net/jiaojialulu/article/details/53087988

博主好细心，代码基本上帖过来就可以用，注释掉的部分改成文件输出就可以了！

#include "stdafx.h"
#include "kinect.h"
#include <iostream>
#include <opencv2/core/core.hpp>  
#include <opencv2/highgui/highgui.hpp>  
using namespace cv;
using namespace std;

// 安全释放指针
template<class Interface>
inline void SafeRelease(Interface *& pInterfaceToRelease)
{
	if (pInterfaceToRelease != NULL)
	{
		pInterfaceToRelease->Release();
		pInterfaceToRelease = NULL;
	}
}

int _tmain(int argc, _TCHAR* argv[])
{
	// 获取Kinect设备
	IKinectSensor* m_pKinectSensor;
	HRESULT hr;
	hr = GetDefaultKinectSensor(&m_pKinectSensor);
	if (FAILED(hr))
	{
		return hr;
	}

	IMultiSourceFrameReader* m_pMultiFrameReader=NULL;
	if (m_pKinectSensor)
	{
		hr = m_pKinectSensor->Open();
		if (SUCCEEDED(hr))
		{
			// 获取多数据源到读取器  
			hr = m_pKinectSensor->OpenMultiSourceFrameReader(
				FrameSourceTypes::FrameSourceTypes_Color |
				FrameSourceTypes::FrameSourceTypes_Infrared |
				FrameSourceTypes::FrameSourceTypes_Depth,
				&m_pMultiFrameReader);
		}
	}

	if (!m_pKinectSensor || FAILED(hr))
	{
		return E_FAIL;
	}
	// 三个数据帧及引用
	IDepthFrameReference* m_pDepthFrameReference = NULL;
	IColorFrameReference* m_pColorFrameReference = NULL;
	IInfraredFrameReference* m_pInfraredFrameReference = NULL;
	IInfraredFrame* m_pInfraredFrame = NULL;
	IDepthFrame* m_pDepthFrame = NULL;
	IColorFrame* m_pColorFrame = NULL;
	// 三个图片格式
	Mat i_rgb(1080, 1920, CV_8UC4);      //注意：这里必须为4通道的图，Kinect的数据只能以Bgra格式传出
	Mat i_depth(424, 512, CV_8UC1);
	Mat i_ir(424, 512, CV_16UC1);

	UINT16 *depthData = new UINT16[424 * 512];
	IMultiSourceFrame* m_pMultiFrame = nullptr;
	while (true)
	{
		// 获取新的一个多源数据帧
		hr = m_pMultiFrameReader->AcquireLatestFrame(&m_pMultiFrame);
		if (FAILED(hr) || !m_pMultiFrame)
		{
			//cout << "!!!" << endl;
			continue;
		}

		// 从多源数据帧中分离出彩色数据，深度数据和红外数据
		if (SUCCEEDED(hr))
			hr = m_pMultiFrame->get_ColorFrameReference(&m_pColorFrameReference);
		if (SUCCEEDED(hr))
			hr = m_pColorFrameReference->AcquireFrame(&m_pColorFrame);
		if (SUCCEEDED(hr))
			hr = m_pMultiFrame->get_DepthFrameReference(&m_pDepthFrameReference);
		if (SUCCEEDED(hr))
			hr = m_pDepthFrameReference->AcquireFrame(&m_pDepthFrame);
		if (SUCCEEDED(hr))
			hr = m_pMultiFrame->get_InfraredFrameReference(&m_pInfraredFrameReference);
		if (SUCCEEDED(hr))
			hr = m_pInfraredFrameReference->AcquireFrame(&m_pInfraredFrame);

		// color拷贝到图片中
		UINT nColorBufferSize = 1920 * 1080 * 4;
		if (SUCCEEDED(hr))
			hr = m_pColorFrame->CopyConvertedFrameDataToArray(nColorBufferSize, reinterpret_cast<BYTE*>(i_rgb.data), ColorImageFormat::ColorImageFormat_Bgra);

		// depth拷贝到图片中
		if (SUCCEEDED(hr))
		{
			hr = m_pDepthFrame->CopyFrameDataToArray(424 * 512, depthData);
			for (int i = 0; i < 512 * 424; i++)
			{
				// 0-255深度图，为了显示明显，只取深度数据的低8位
				BYTE intensity = static_cast<BYTE>(depthData[i] % 256);
				reinterpret_cast<BYTE*>(i_depth.data)[i] = intensity;
			}
			ICoordinateMapper*      m_pCoordinateMapper=NULL;
			hr = m_pKinectSensor->get_CoordinateMapper(&m_pCoordinateMapper);
			ColorSpacePoint* m_pColorCoordinates = new ColorSpacePoint[512 * 424];
			HRESULT hr = m_pCoordinateMapper->MapDepthFrameToColorSpace(512 * 424, depthData, 512 * 424, m_pColorCoordinates);
		
			Mat i_depthToRgb(424, 512, CV_8UC4);
			if (SUCCEEDED(hr))
			{
				for (int i = 0; i < 424 * 512; i++)
				{
					ColorSpacePoint p = m_pColorCoordinates[i];
					if (p.X != -std::numeric_limits<float>::infinity() && p.Y != -std::numeric_limits<float>::infinity())
					{
						int colorX = static_cast<int>(p.X + 0.5f);
						int colorY = static_cast<int>(p.Y + 0.5f);

						if ((colorX >= 0 && colorX < 1920) && (colorY >= 0 && colorY < 1080))
						{
							i_depthToRgb.data[i * 4] = i_rgb.data[(colorY * 1920 + colorX) * 4];
							i_depthToRgb.data[i * 4 + 1] = i_rgb.data[(colorY * 1920 + colorX) * 4 + 1];
							i_depthToRgb.data[i * 4 + 2] = i_rgb.data[(colorY * 1920 + colorX) * 4 + 2];
							i_depthToRgb.data[i * 4 + 3] = i_rgb.data[(colorY * 1920 + colorX) * 4 + 3];
						}
					}
				}
			}
			imshow("rgb2depth", i_depthToRgb);
			if (waitKey(1) == VK_ESCAPE)
				break;
			CameraSpacePoint* m_pCameraCoordinates = new CameraSpacePoint[512 * 424];
			if (SUCCEEDED(hr))
			{
				HRESULT hr = m_pCoordinateMapper->MapDepthFrameToCameraSpace(512 * 424, depthData, 512 * 424, m_pCameraCoordinates);
			}
			if (SUCCEEDED(hr))
			{
				for (int i = 0; i < 512 * 424; i++)
				{
					CameraSpacePoint p = m_pCameraCoordinates[i];
					if (p.X != -std::numeric_limits<float>::infinity() && p.Y != -std::numeric_limits<float>::infinity() && p.Z != -std::numeric_limits<float>::infinity())
					{
						float cameraX = static_cast<float>(p.X);
						float cameraY = static_cast<float>(p.Y);
						float cameraZ = static_cast<float>(p.Z);

						//cout << "x: " << cameraX << "y: " << cameraY << "z: " << cameraZ << endl;
						//GLubyte *rgb = new GLubyte();
						//rgb[2] = i_depthToRgb.data[i * 4 + 0];
						//rgb[1] = i_depthToRgb.data[i * 4 + 1];
						//rgb[0] = i_depthToRgb.data[i * 4 + 2];
						 显示点
						//glColor3ubv(rgb);
						//glVertex3f(cameraX, -cameraY, cameraZ);
					}
				}
			}
			
		}


		// 显示
		/*imshow("rgb", i_rgb);
		if (waitKey(1) == VK_ESCAPE)
			break;*/
		imshow("depth", i_depth);
		if (waitKey(1) == VK_ESCAPE)
			break;

		
		// 释放资源
		SafeRelease(m_pColorFrame);
		SafeRelease(m_pDepthFrame);
		SafeRelease(m_pInfraredFrame);
		SafeRelease(m_pColorFrameReference);
		SafeRelease(m_pDepthFrameReference);
		SafeRelease(m_pInfraredFrameReference);
		SafeRelease(m_pMultiFrame);
	}
	// 关闭窗口，设备
	cv::destroyAllWindows();
	m_pKinectSensor->Close();
	std::system("pause");

	return 0;
}

我们实验室的一帧数据，哈哈！　　

上面的代码有内存泄露，程序运行一段时间把我的机器物理内存都占满了，下面代码更新一下！

代码在这里