PCL获取Kinect v2点云
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PCL获取Kinect v2点云
本博客主要参考网络上的教程博客，加上自己遇到的问题。
环境：win8_x64、VS2013、OpenCV2.4.9、PCL1.7.2、Kinect SDK2.0
主要参考博客：http://www.pclcn.org/bbs/forum.php?mod=viewthread&tid=1195
本博客用到的库和软件链接：http://pan.baidu.com/s/1dFw1PQD 密码：ob48
一、安装依赖库
a、安装OpenCV这里安装的是OpenCV2.4.9
推荐教程：http://blog.csdn.net/pinbodexiaozhu/article/details/39889995/
b、安装PCL这里安装的是PCL1.7.2
推荐教程：http://blog.csdn.net/caimagic/article/details/51395084
c、安装Kinect SDK2.0
直接安装，按提示操作即可。
官网SDK下载链接:https://www.microsoft.com/en-us/download/details.aspx?id=44561
安装完成后，在VS中新建空项目，
在属性管理器->C/C++->附加包含目录 添加C:\Program Files\Microsoft SDKs\Kinect\v2.0_1409\inc
在属性管理器->链接器->常规->附加库目录 添加C:\Program Files\Microsoft SDKs\Kinect\v2.0_1409\Lib\x86
在属性管理器->链接器->输入->附加依赖项 添加
Kinect20.VisualGestureBuilder.lib Kinect20.lib Kinect20.Face.lib Kinect20.Fusion.lib
在解决方案资源管理器中添加下面的源文件kinect2_grabber.cpp和kinect2_grabber.h后编译运行即可看到点云窗口。
二、代码
代码源文件在网盘Kinect_v2_点云获取文件夹中的kinect2_grabber.cpp和kinect2_grabber.h
源码网盘链接：http://pan.baidu.com/s/1jH4iZdG 密码：9jw8
另还有CMakeLists.txt供camake编译使用
CMakeLists.txt
cmake_minimum_required( VERSION 2.8 )set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH} ) project( sample )add_executable( sample kinect2_grabber.h main.cpp )set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "sample" ) # Find Packagesfind_package( PCL 1.7.2 REQUIRED )find_package( KinectSDK2 REQUIRED ) if( PCL_FOUND AND KinectSDK2_FOUND ) # Additional Include Directories include_directories( ${PCL_INCLUDE_DIRS} ) include_directories( ${KinectSDK2_INCLUDE_DIRS} ) # Preprocessor Definitions add_definitions( ${PCL_DEFINITIONS} ) # Additional Library Directories link_directories( ${PCL_LIBRARY_DIRS} ) link_directories( ${KinectSDK2_LIBRARY_DIRS} ) # Additional Dependencies target_link_libraries( sample ${PCL_LIBRARIES} ) target_link_libraries( sample ${KinectSDK2_LIBRARIES} )endif()kinect2_grabber.cpp
// Disable Error C4996 that occur when using Boost.Signals2.#ifdef _DEBUG#define _SCL_SECURE_NO_WARNINGS#endif#include "kinect2_grabber.h"#include <pcl/visualization/pcl_visualizer.h>typedef pcl::PointXYZRGBA PointType;int main( int argc, char* argv[] ){ // PCL Visualizer boost::shared_ptr<pcl::visualization::PCLVisualizer> 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<PointType>::ConstPtr cloud; // Retrieved Point Cloud Callback Function boost::mutex mutex; boost::function<void( const pcl::PointCloud<PointType>::ConstPtr& )> function = [&cloud, &mutex]( const pcl::PointCloud<PointType>::ConstPtr& ptr ){ boost::mutex::scoped_lock lock( mutex ); /* Point Cloud Processing */ cloud = ptr->makeShared(); }; // Kinect2Grabber // boost::shared_ptr<pcl::Grabber> grabber = boost::make_shared<pcl::Kinect2Grabber>();boost::shared_ptr<pcl::Grabber> grabber = boost::shared_ptr<pcl::Grabber>(new pcl::Kinect2Grabber); // Register Callback Function boost::signals2::connection connection = grabber->registerCallback( function ); // Start Grabber grabber->start(); while( !viewer->wasStopped() ){ // Update Viewer viewer->spinOnce(); boost::mutex::scoped_try_lock lock( mutex ); if( lock.owns_lock() && cloud ){ // Update Point Cloud if( !viewer->updatePointCloud( cloud, "cloud" ) ){ viewer->addPointCloud( cloud, "cloud" ); } } } // Stop Grabber grabber->stop(); // Disconnect Callback Function if( connection.connected() ){ connection.disconnect(); } return 0;}kinect2_grabber.h
// Kinect2Grabber is pcl::Grabber to retrieve the point cloud data from Kinect v2 using Kinect for Windows SDK 2.x.// This source code is licensed under the MIT license. Please see the License in License.txt.#ifndef KINECT2_GRABBER#define KINECT2_GRABBER#define NOMINMAX#include <Windows.h>#include <Kinect.h>#include <pcl/io/boost.h>#include <pcl/io/grabber.h>#include <pcl/point_cloud.h>#include <pcl/point_types.h>namespace pcl{ struct pcl::PointXYZ; struct pcl::PointXYZI; struct pcl::PointXYZRGB; struct pcl::PointXYZRGBA; template <typename T> class pcl::PointCloud; template<class Interface> inline void SafeRelease( Interface *& IRelease ) { if( IRelease != NULL ){ IRelease->Release(); IRelease = NULL; } } class Kinect2Grabber : public pcl::Grabber { public: Kinect2Grabber(); virtual ~Kinect2Grabber() throw (); virtual void start(); virtual void stop(); virtual bool isRunning() const; virtual std::string getName() const; virtual float getFramesPerSecond() const; typedef void ( signal_Kinect2_PointXYZ )( const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZ>>& ); typedef void ( signal_Kinect2_PointXYZI )( const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZI>>& ); typedef void ( signal_Kinect2_PointXYZRGB )( const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGB>>& ); typedef void ( signal_Kinect2_PointXYZRGBA )( const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGBA>>& ); protected: boost::signals2::signal<signal_Kinect2_PointXYZ>* signal_PointXYZ; boost::signals2::signal<signal_Kinect2_PointXYZI>* signal_PointXYZI; boost::signals2::signal<signal_Kinect2_PointXYZRGB>* signal_PointXYZRGB; boost::signals2::signal<signal_Kinect2_PointXYZRGBA>* signal_PointXYZRGBA; pcl::PointCloud<pcl::PointXYZ>::Ptr convertDepthToPointXYZ( UINT16* depthBuffer ); pcl::PointCloud<pcl::PointXYZI>::Ptr convertInfraredDepthToPointXYZI( UINT16* infraredBuffer, UINT16* depthBuffer ); pcl::PointCloud<pcl::PointXYZRGB>::Ptr convertRGBDepthToPointXYZRGB( RGBQUAD* colorBuffer, UINT16* depthBuffer ); pcl::PointCloud<pcl::PointXYZRGBA>::Ptr convertRGBADepthToPointXYZRGBA( RGBQUAD* colorBuffer, UINT16* depthBuffer ); boost::thread thread; mutable boost::mutex mutex; void threadFunction(); bool quit; bool running; HRESULT result; IKinectSensor* sensor; ICoordinateMapper* mapper; IColorFrameSource* colorSource; IColorFrameReader* colorReader; IDepthFrameSource* depthSource; IDepthFrameReader* depthReader; IInfraredFrameSource* infraredSource; IInfraredFrameReader* infraredReader; int colorWidth; int colorHeight; std::vector<RGBQUAD> colorBuffer; int depthWidth; int depthHeight; std::vector<UINT16> depthBuffer; int infraredWidth; int infraredHeight; std::vector<UINT16> infraredBuffer; }; pcl::Kinect2Grabber::Kinect2Grabber() : sensor( nullptr ) , mapper( nullptr ) , colorSource( nullptr ) , colorReader( nullptr ) , depthSource( nullptr ) , depthReader( nullptr ) , infraredSource( nullptr ) , infraredReader( nullptr ) , result( S_OK ) , colorWidth( 1920 ) , colorHeight( 1080 ) , colorBuffer() , depthWidth( 512 ) , depthHeight( 424 ) , depthBuffer() , infraredWidth( 512 ) , infraredHeight( 424 ) , infraredBuffer() , running( false ) , quit( false ) , signal_PointXYZ( nullptr ) , signal_PointXYZI( nullptr ) , signal_PointXYZRGB( nullptr ) , signal_PointXYZRGBA( nullptr ) { // Create Sensor Instance result = GetDefaultKinectSensor( &sensor ); if( FAILED( result ) ){ throw std::exception( "Exception : GetDefaultKinectSensor()" ); } // Open Sensor result = sensor->Open(); if( FAILED( result ) ){ throw std::exception( "Exception : IKinectSensor::Open()" ); } // Retrieved Coordinate Mapper result = sensor->get_CoordinateMapper( &mapper ); if( FAILED( result ) ){ throw std::exception( "Exception : IKinectSensor::get_CoordinateMapper()" ); } // Retrieved Color Frame Source result = sensor->get_ColorFrameSource( &colorSource ); if( FAILED( result ) ){ throw std::exception( "Exception : IKinectSensor::get_ColorFrameSource()" ); } // Retrieved Depth Frame Source result = sensor->get_DepthFrameSource( &depthSource ); if( FAILED( result ) ){ throw std::exception( "Exception : IKinectSensor::get_DepthFrameSource()" ); } // Retrieved Infrared Frame Source result = sensor->get_InfraredFrameSource( &infraredSource ); if( FAILED( result ) ){ throw std::exception( "Exception : IKinectSensor::get_InfraredFrameSource()" ); } // Retrieved Color Frame Size IFrameDescription* colorDescription; result = colorSource->get_FrameDescription( &colorDescription ); if( FAILED( result ) ){ throw std::exception( "Exception : IColorFrameSource::get_FrameDescription()" ); } result = colorDescription->get_Width( &colorWidth ); // 1920 if( FAILED( result ) ){ throw std::exception( "Exception : IFrameDescription::get_Width()" ); } result = colorDescription->get_Height( &colorHeight ); // 1080 if( FAILED( result ) ){ throw std::exception( "Exception : IFrameDescription::get_Height()" ); } SafeRelease( colorDescription ); // To Reserve Color Frame Buffer colorBuffer.resize( colorWidth * colorHeight ); // Retrieved Depth Frame Size IFrameDescription* depthDescription; result = depthSource->get_FrameDescription( &depthDescription ); if( FAILED( result ) ){ throw std::exception( "Exception : IDepthFrameSource::get_FrameDescription()" ); } result = depthDescription->get_Width( &depthWidth ); // 512 if( FAILED( result ) ){ throw std::exception( "Exception : IFrameDescription::get_Width()" ); } result = depthDescription->get_Height( &depthHeight ); // 424 if( FAILED( result ) ){ throw std::exception( "Exception : IFrameDescription::get_Height()" ); } SafeRelease( depthDescription ); // To Reserve Depth Frame Buffer depthBuffer.resize( depthWidth * depthHeight ); // Retrieved Infrared Frame Size IFrameDescription* infraredDescription; result = infraredSource->get_FrameDescription( &infraredDescription ); if( FAILED( result ) ){ throw std::exception( "Exception : IInfraredFrameSource::get_FrameDescription()" ); } result = infraredDescription->get_Width( &infraredWidth ); // 512 if( FAILED( result ) ){ throw std::exception( "Exception : IFrameDescription::get_Width()" ); } result = infraredDescription->get_Height( &infraredHeight ); // 424 if( FAILED( result ) ){ throw std::exception( "Exception : IFrameDescription::get_Height()" ); } SafeRelease( infraredDescription ); // To Reserve Infrared Frame Buffer infraredBuffer.resize( infraredWidth * infraredHeight ); signal_PointXYZ = createSignal<signal_Kinect2_PointXYZ>(); signal_PointXYZI = createSignal<signal_Kinect2_PointXYZI>(); signal_PointXYZRGB = createSignal<signal_Kinect2_PointXYZRGB>(); signal_PointXYZRGBA = createSignal<signal_Kinect2_PointXYZRGBA>(); } pcl::Kinect2Grabber::~Kinect2Grabber() throw() { stop(); disconnect_all_slots<signal_Kinect2_PointXYZ>(); disconnect_all_slots<signal_Kinect2_PointXYZI>(); disconnect_all_slots<signal_Kinect2_PointXYZRGB>(); disconnect_all_slots<signal_Kinect2_PointXYZRGBA>(); thread.join(); // End Processing if( sensor ){ sensor->Close(); } SafeRelease( sensor ); SafeRelease( mapper ); SafeRelease( colorSource ); SafeRelease( colorReader ); SafeRelease( depthSource ); SafeRelease( depthReader ); SafeRelease( infraredSource ); SafeRelease( infraredReader ); } void pcl::Kinect2Grabber::start() { // Open Color Frame Reader result = colorSource->OpenReader( &colorReader ); if( FAILED( result ) ){ throw std::exception( "Exception : IColorFrameSource::OpenReader()" ); } // Open Depth Frame Reader result = depthSource->OpenReader( &depthReader ); if( FAILED( result ) ){ throw std::exception( "Exception : IDepthFrameSource::OpenReader()" ); } // Open Infrared Frame Reader result = infraredSource->OpenReader( &infraredReader ); if( FAILED( result ) ){ throw std::exception( "Exception : IInfraredFrameSource::OpenReader()" ); } running = true; thread = boost::thread( &Kinect2Grabber::threadFunction, this ); } void pcl::Kinect2Grabber::stop() { boost::unique_lock<boost::mutex> lock( mutex ); quit = true; running = false; lock.unlock(); } bool pcl::Kinect2Grabber::isRunning() const { boost::unique_lock<boost::mutex> lock( mutex ); return running; lock.unlock(); } std::string pcl::Kinect2Grabber::getName() const { return std::string( "Kinect2Grabber" ); } float pcl::Kinect2Grabber::getFramesPerSecond() const { return 30.0f; } void pcl::Kinect2Grabber::threadFunction() { while( !quit ){ boost::unique_lock<boost::mutex> lock( mutex ); // Acquire Latest Color Frame IColorFrame* colorFrame = nullptr; result = colorReader->AcquireLatestFrame( &colorFrame ); if( SUCCEEDED( result ) ){ // Retrieved Color Data result = colorFrame->CopyConvertedFrameDataToArray( colorBuffer.size() * sizeof( RGBQUAD ), reinterpret_cast<BYTE*>( &colorBuffer[0] ), ColorImageFormat::ColorImageFormat_Bgra ); if( FAILED( result ) ){ throw std::exception( "Exception : IColorFrame::CopyConvertedFrameDataToArray()" ); } } SafeRelease( colorFrame ); // Acquire Latest Depth Frame IDepthFrame* depthFrame = nullptr; result = depthReader->AcquireLatestFrame( &depthFrame ); if( SUCCEEDED( result ) ){ // Retrieved Depth Data result = depthFrame->CopyFrameDataToArray( depthBuffer.size(), &depthBuffer[0] ); if( FAILED( result ) ){ throw std::exception( "Exception : IDepthFrame::CopyFrameDataToArray()" ); } } SafeRelease( depthFrame ); // Acquire Latest Infrared Frame IInfraredFrame* infraredFrame = nullptr; result = infraredReader->AcquireLatestFrame( &infraredFrame ); if( SUCCEEDED( result ) ){ // Retrieved Infrared Data result = infraredFrame->CopyFrameDataToArray( infraredBuffer.size(), &infraredBuffer[0] ); if( FAILED( result ) ){ throw std::exception( "Exception : IInfraredFrame::CopyFrameDataToArray()" ); } } SafeRelease( infraredFrame ); lock.unlock(); if( signal_PointXYZ->num_slots() > 0 ){ signal_PointXYZ->operator()( convertDepthToPointXYZ( &depthBuffer[0] ) ); } if( signal_PointXYZI->num_slots() > 0 ){ signal_PointXYZI->operator()( convertInfraredDepthToPointXYZI( &infraredBuffer[0], &depthBuffer[0] ) ); } if( signal_PointXYZRGB->num_slots() > 0 ){ signal_PointXYZRGB->operator()( convertRGBDepthToPointXYZRGB( &colorBuffer[0], &depthBuffer[0] ) ); } if( signal_PointXYZRGBA->num_slots() > 0 ){ signal_PointXYZRGBA->operator()( convertRGBADepthToPointXYZRGBA( &colorBuffer[0], &depthBuffer[0] ) ); } } } pcl::PointCloud<pcl::PointXYZ>::Ptr pcl::Kinect2Grabber::convertDepthToPointXYZ( UINT16* depthBuffer ) { pcl::PointCloud<pcl::PointXYZ>::Ptr cloud( new pcl::PointCloud<pcl::PointXYZ>() ); cloud->width = static_cast<uint32_t>( depthWidth ); cloud->height = static_cast<uint32_t>( depthHeight ); cloud->is_dense = false; cloud->points.resize( cloud->height * cloud->width ); pcl::PointXYZ* pt = &cloud->points[0]; for( int y = 0; y < depthHeight; y++ ){ for( int x = 0; x < depthWidth; x++, pt++ ){ pcl::PointXYZ point; DepthSpacePoint depthSpacePoint = { static_cast<float>( x ), static_cast<float>( y ) }; UINT16 depth = depthBuffer[y * depthWidth + x]; // Coordinate Mapping Depth to Camera Space, and Setting PointCloud XYZ CameraSpacePoint cameraSpacePoint = { 0.0f, 0.0f, 0.0f }; mapper->MapDepthPointToCameraSpace( depthSpacePoint, depth, &cameraSpacePoint ); point.x = cameraSpacePoint.X; point.y = cameraSpacePoint.Y; point.z = cameraSpacePoint.Z; *pt = point; } } return cloud; } pcl::PointCloud<pcl::PointXYZI>::Ptr pcl::Kinect2Grabber::convertInfraredDepthToPointXYZI( UINT16* infraredBuffer, UINT16* depthBuffer ) { pcl::PointCloud<pcl::PointXYZI>::Ptr cloud( new pcl::PointCloud<pcl::PointXYZI>() ); cloud->width = static_cast<uint32_t>( depthWidth ); cloud->height = static_cast<uint32_t>( depthHeight ); cloud->is_dense = false; cloud->points.resize( cloud->height * cloud->width ); pcl::PointXYZI* pt = &cloud->points[0]; for( int y = 0; y < depthHeight; y++ ){ for( int x = 0; x < depthWidth; x++, pt++ ){ pcl::PointXYZI point; DepthSpacePoint depthSpacePoint = { static_cast<float>( x ), static_cast<float>( y ) }; UINT16 depth = depthBuffer[y * depthWidth + x]; // Setting PointCloud Intensity point.intensity = static_cast<float>( infraredBuffer[y * depthWidth + x] ); // Coordinate Mapping Depth to Camera Space, and Setting PointCloud XYZ CameraSpacePoint cameraSpacePoint = { 0.0f, 0.0f, 0.0f }; mapper->MapDepthPointToCameraSpace( depthSpacePoint, depth, &cameraSpacePoint ); point.x = cameraSpacePoint.X; point.y = cameraSpacePoint.Y; point.z = cameraSpacePoint.Z; *pt = point; } } return cloud; } pcl::PointCloud<pcl::PointXYZRGB>::Ptr pcl::Kinect2Grabber::convertRGBDepthToPointXYZRGB( RGBQUAD* colorBuffer, UINT16* depthBuffer ) { pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud( new pcl::PointCloud<pcl::PointXYZRGB>() ); cloud->width = static_cast<uint32_t>( depthWidth ); cloud->height = static_cast<uint32_t>( depthHeight ); cloud->is_dense = false; cloud->points.resize( cloud->height * cloud->width ); pcl::PointXYZRGB* pt = &cloud->points[0]; for( int y = 0; y < depthHeight; y++ ){ for( int x = 0; x < depthWidth; x++, pt++ ){ pcl::PointXYZRGB point; DepthSpacePoint depthSpacePoint = { static_cast<float>( x ), static_cast<float>( y ) }; UINT16 depth = depthBuffer[y * depthWidth + x]; // Coordinate Mapping Depth to Color Space, and Setting PointCloud RGB ColorSpacePoint colorSpacePoint = { 0.0f, 0.0f }; mapper->MapDepthPointToColorSpace( depthSpacePoint, depth, &colorSpacePoint ); int colorX = static_cast<int>( std::floor( colorSpacePoint.X + 0.5f ) ); int colorY = static_cast<int>( std::floor( colorSpacePoint.Y + 0.5f ) ); if( ( 0 <= colorX ) && ( colorX < colorWidth ) && ( 0 <= colorY ) && ( colorY < colorHeight ) ){ RGBQUAD color = colorBuffer[colorY * colorWidth + colorX]; point.b = color.rgbBlue; point.g = color.rgbGreen; point.r = color.rgbRed; } // Coordinate Mapping Depth to Camera Space, and Setting PointCloud XYZ CameraSpacePoint cameraSpacePoint = { 0.0f, 0.0f, 0.0f }; mapper->MapDepthPointToCameraSpace( depthSpacePoint, depth, &cameraSpacePoint ); if( ( 0 <= colorX ) && ( colorX < colorWidth ) && ( 0 <= colorY ) && ( colorY < colorHeight ) ){ point.x = cameraSpacePoint.X; point.y = cameraSpacePoint.Y; point.z = cameraSpacePoint.Z; } *pt = point; } } return cloud; } pcl::PointCloud<pcl::PointXYZRGBA>::Ptr pcl::Kinect2Grabber::convertRGBADepthToPointXYZRGBA( RGBQUAD* colorBuffer, UINT16* depthBuffer ) { pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud( new pcl::PointCloud<pcl::PointXYZRGBA>() ); cloud->width = static_cast<uint32_t>( depthWidth ); cloud->height = static_cast<uint32_t>( depthHeight ); cloud->is_dense = false; cloud->points.resize( cloud->height * cloud->width ); pcl::PointXYZRGBA* pt = &cloud->points[0]; for( int y = 0; y < depthHeight; y++ ){ for( int x = 0; x < depthWidth; x++, pt++ ){ pcl::PointXYZRGBA point; DepthSpacePoint depthSpacePoint = { static_cast<float>( x ), static_cast<float>( y ) }; UINT16 depth = depthBuffer[y * depthWidth + x]; // Coordinate Mapping Depth to Color Space, and Setting PointCloud RGBA ColorSpacePoint colorSpacePoint = { 0.0f, 0.0f }; mapper->MapDepthPointToColorSpace( depthSpacePoint, depth, &colorSpacePoint ); int colorX = static_cast<int>( std::floor( colorSpacePoint.X + 0.5f ) ); int colorY = static_cast<int>( std::floor( colorSpacePoint.Y + 0.5f ) ); if( ( 0 <= colorX ) && ( colorX < colorWidth ) && ( 0 <= colorY ) && ( colorY < colorHeight ) ){ RGBQUAD color = colorBuffer[colorY * colorWidth + colorX]; point.b = color.rgbBlue; point.g = color.rgbGreen; point.r = color.rgbRed; point.a = color.rgbReserved; } // Coordinate Mapping Depth to Camera Space, and Setting PointCloud XYZ CameraSpacePoint cameraSpacePoint = { 0.0f, 0.0f, 0.0f }; mapper->MapDepthPointToCameraSpace( depthSpacePoint, depth, &cameraSpacePoint ); if( ( 0 <= colorX ) && ( colorX < colorWidth ) && ( 0 <= colorY ) && ( colorY < colorHeight ) ){ point.x = cameraSpacePoint.X; point.y = cameraSpacePoint.Y; point.z = cameraSpacePoint.Z; } *pt = point; } } return cloud; }}#endif KINECT2_GRABBER
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