kinect 运用Openni2.0 产生点云

来源：互联网发布：php蜘蛛池程序编辑：程序博客网时间：2024/06/10 19:55

我的Kinect型号：PrimeSense Carmine

使用Openni2.0

这次比较粗糙，就是想将摄像头采集的深度信息转化为现实世界的三维坐标，然后用Opengl画出来。

这里没有降噪、取样，所以也称不上是“点云”

原理什么的，请参考这位仁兄：http://blog.csdn.net/opensource07/article/details/7804246

他是Openni1.0做的，代码写的也比较规整，我就比较随意了，适合像我一样的新手理解

#include<gl/glut.h> #include <iostream>#include <vector>#include <OpenNI.h>#include "OniSampleUtilities.h"#define SAMPLE_READ_WAIT_TIMEOUT 200 //2000msusing namespace openni;using namespace std;typedef struct data{float x;float y;float z;}data;VideoStream depth;VideoFrameRef frame;int width;int height;void OpenGL_init(void){glClearColor(0.0f, 0.0f, 0.0f, 1.0f);// background color: white glShadeModel(GL_FLAT);glClear(GL_COLOR_BUFFER_BIT);}void display(){vector<data> point;data mydata;float x=0.0,y=0.0,z=0.0,xx=0.0;float i,j;//读取一帧int changedStreamDummy;VideoStream* pStream = &depth;    OpenNI::waitForAnyStream(&pStream, 1, &changedStreamDummy, SAMPLE_READ_WAIT_TIMEOUT);depth.readFrame(&frame);width = frame.getWidth();height = frame.getHeight();DepthPixel *pDepth = (DepthPixel*)frame.getData();for(i=0;i<frame.getHeight();i++){for(j=0;j<frame.getWidth();j++){int k = i;int m = j;xx = pDepth[k*frame.getWidth()+m];CoordinateConverter::convertDepthToWorld (depth,i,j,xx,&x,&y,&z);mydata.x=x*0.001;mydata.y=y*0.001;mydata.z=z*0.001;point.push_back(mydata);//cout<<xx<<endl;}}glColor3f(1.0f, 1.0f, 1.0f);glPointSize(0.1f);glBegin(GL_POINTS);if (point.size()!=0){glBegin(GL_POINTS);for (vector<data>::iterator iter = point.begin();iter!=point.end();iter++){glVertex3f(iter->x,iter->y,iter->z);}}glEnd();glFlush();glutSwapBuffers();}void OpenGL_changeSize(int w, int h){glViewport(0, 0, GLsizei(w), GLsizei(h));glMatrixMode(GL_PROJECTION);glLoadIdentity();// if (w <= h)// 正交投影// glOrtho(-2.0, 2.0, -2.0*(GLfloat)h/(GLfloat)w, 2.0*(GLfloat)h/(GLfloat)w, -10.0, 10.0);// else// glOrtho(-2.0*(GLfloat)w/(GLfloat)h, 2.0*(GLfloat)w/(GLfloat)h, -2.0, 2.0, -10.0, 10.0);gluPerspective(60.0, (GLfloat)w/(GLfloat)h, 0.1f, 50.0f);glMatrixMode(GL_MODELVIEW);glLoadIdentity();gluLookAt(0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.1f, 0.0f, 1.0f, 0.0f);}void OpenGL_Idel(){display();// 刷新显示glClear(GL_COLOR_BUFFER_BIT);}int main(int argc, char **argv){Status rc = OpenNI::initialize();vector<data> point;Device device;rc = device.open(ANY_DEVICE);if (device.getSensorInfo(SENSOR_DEPTH) != NULL){rc = depth.create(device, SENSOR_DEPTH);}rc = depth.start();glutInit(&argc,argv);  glutInitDisplayMode(GLUT_DOUBLE|GLUT_RGBA);  glutInitWindowPosition(100,100);  glutInitWindowSize(800, 600);  glutCreateWindow("first blood");  OpenGL_init();glutDisplayFunc(&display);  glutIdleFunc(OpenGL_Idel);glutMainLoop();return 0;}

OPENNI2.0 sample里带的图：

背景是书架+我的手

下面这幅是还原三维世界：

下次将学习PCL的东西，争取给出以下效果：

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