azure kinect三维点云_Kinect2.0点云数据获取

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

#include

#include

using namespace cv;

using namespace std;

// 安全释放指针

template

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

ID