VS2013+KinectV2获取点云
利用Kinect sdk2.0和PCL1.8,在vs2013中使用cmake配置工程项目获取点云,并在第100次刷新时保存点云。 详见博文http://blog.csdn.net/cs2539263027, 内含cmake配置vs2013工程教程。
代码片段和文件信息
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
目录 0 2017-05-29 18:46 KinectGrabber-Kinect2Grabber
文件 1100 2016-09-11 01:10 KinectGrabber-Kinect2GrabberLicense.txt
文件 1358 2016-09-11 01:10 KinectGrabber-Kinect2GrabberREADME.md
目录 0 2017-07-06 21:58 KinectGrabber-Kinect2GrabberSample
文件 847 2016-09-11 01:10 KinectGrabber-Kinect2GrabberSampleCMakeLists.txt
文件 7138 2016-09-11 01:10 KinectGrabber-Kinect2GrabberSampleFindKinectSDK2.cmake
目录 0 2017-07-06 22:05 KinectGrabber-Kinect2GrabberSampleuild
文件 59578 2017-06-07 20:29 KinectGrabber-Kinect2GrabberSampleuildALL_BUILD.vcxproj
文件 310 2017-06-07 20:29 KinectGrabber-Kinect2GrabberSampleuildALL_BUILD.vcxproj.filters
文件 54568 2017-06-07 20:29 KinectGrabber-Kinect2GrabberSampleuildCMakeCache.txt
目录 0 2017-06-07 20:30 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles
目录 0 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3
文件 1954 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CMakeCCompiler.cmake
文件 2751 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CMakeCXXCompiler.cmake
文件 36864 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CMakeDetermineCompilerABI_C.bin
文件 36864 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CMakeDetermineCompilerABI_CXX.bin
文件 272 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CMakeRCCompiler.cmake
文件 395 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CMakeSystem.cmake
目录 0 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdC
文件 17387 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCCMakeCCompilerId.c
文件 10240 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCCompilerIdC.exe
文件 2403 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCCompilerIdC.vcxproj
目录 0 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCDebug
文件 2011 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCDebugCMakeCCompilerId.obj
目录 0 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCDebugCompilerIdC.tlog
文件 556 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCDebugCompilerIdC.tlogCL.read.1.tlog
文件 464 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCDebugCompilerIdC.tlogCL.write.1.tlog
文件 222 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCDebugCompilerIdC.tlogCompilerIdC.lastbuildstate
文件 724 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCDebugCompilerIdC.tlogcl.command.1.tlog
文件 1064 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCDebugCompilerIdC.tloglink.command.1.tlog
文件 2932 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCDebugCompilerIdC.tloglink.read.1.tlog
............此处省略69个文件信息
// Disable Error C4996 that occur when using Boost.Signals2.
#ifdef _DEBUG
#define _SCL_SECURE_NO_WARNINGS
#endif
#include “kinect2_grabber.h“
#include
#include //PCL的PCD格式文件的输入输出头文件
#include //PCL对各种格式的点的支持头文件
#include
typedef pcl::PointXYZRGBA PointType;
int main( int argc char* argv[] )
{
int nnn=0;
// PCL Visualizer
boost::shared_ptr viewer(
new pcl::visualization::PCLVisualizer( “Point Cloud Viewer“ ) );
viewer->setCameraPosition( 0.0 0.0 -2.5 0.0 0.0 0.0 );
// Point Cloud
pcl::PointCloud::ConstPtr cloud;
// Retrieved Point Cloud Callback Function
boost::mutex mutex;
boost::function::ConstPtr& )> function =
[&cloud &mutex]( const pcl::PointCloud::ConstPtr& ptr ){
boost::mutex::scoped_lock lock( mutex );
/* Point Cloud Processing */
cloud = ptr->makeShared();
};
// Kinect2Grabber
boost::shared_ptr grabber = boost::make_shared();
// Register Callback Function
boost::signals2::connection connection = grabber->registerCallback( function );
// Start Grabber
grabber->start();
bool switchfd = true;
while( !viewer->wasStopped() ){
// Update Viewer
viewer->spinOnce();
boost::mutex::scoped_try_lock lock( mutex );
if( lock.owns_lock() && cloud ){
// Update Point Cloud
//cout << cloud->width << endl;
//cout << cloud->size() << endl;
//保存点云数据
if (nnn == 100)
{
cin >> nnn;
pcl::io::savePCDFileASCII(“test_pcd.pcd“ *cloud);
nnn = 0;
}
nnn++;
cout<<“nnn: “< if( !viewer->updatePointCloud( cloud “cloud“ ) ){
viewer->addPointCloud( cloud “cloud“ );
}
}
}
// Stop Grabber
grabber->stop();
// Disconnect Callback Function
if( connection.connected() ){
connection.disconnect();
}
return 0;
}
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
目录 0 2017-05-29 18:46 KinectGrabber-Kinect2Grabber
文件 1100 2016-09-11 01:10 KinectGrabber-Kinect2GrabberLicense.txt
文件 1358 2016-09-11 01:10 KinectGrabber-Kinect2GrabberREADME.md
目录 0 2017-07-06 21:58 KinectGrabber-Kinect2GrabberSample
文件 847 2016-09-11 01:10 KinectGrabber-Kinect2GrabberSampleCMakeLists.txt
文件 7138 2016-09-11 01:10 KinectGrabber-Kinect2GrabberSampleFindKinectSDK2.cmake
目录 0 2017-07-06 22:05 KinectGrabber-Kinect2GrabberSampleuild
文件 59578 2017-06-07 20:29 KinectGrabber-Kinect2GrabberSampleuildALL_BUILD.vcxproj
文件 310 2017-06-07 20:29 KinectGrabber-Kinect2GrabberSampleuildALL_BUILD.vcxproj.filters
文件 54568 2017-06-07 20:29 KinectGrabber-Kinect2GrabberSampleuildCMakeCache.txt
目录 0 2017-06-07 20:30 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles
目录 0 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3
文件 1954 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CMakeCCompiler.cmake
文件 2751 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CMakeCXXCompiler.cmake
文件 36864 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CMakeDetermineCompilerABI_C.bin
文件 36864 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CMakeDetermineCompilerABI_CXX.bin
文件 272 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CMakeRCCompiler.cmake
文件 395 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CMakeSystem.cmake
目录 0 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdC
文件 17387 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCCMakeCCompilerId.c
文件 10240 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCCompilerIdC.exe
文件 2403 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCCompilerIdC.vcxproj
目录 0 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCDebug
文件 2011 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCDebugCMakeCCompilerId.obj
目录 0 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCDebugCompilerIdC.tlog
文件 556 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCDebugCompilerIdC.tlogCL.read.1.tlog
文件 464 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCDebugCompilerIdC.tlogCL.write.1.tlog
文件 222 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCDebugCompilerIdC.tlogCompilerIdC.lastbuildstate
文件 724 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCDebugCompilerIdC.tlogcl.command.1.tlog
文件 1064 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCDebugCompilerIdC.tlogli
文件 2932 2017-06-07 20:28 KinectGrabber-Kinect2GrabberSampleuildCMakeFiles3.6.3CompilerIdCDebugCompilerIdC.tlogli
............此处省略69个文件信息
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