azure kinect三维点云_用Azure kinect 和PCL获取点云数据

1.头文件k4a_grabber.h

#pragma once

#include #include #include #include #include #include namespace pcl

{

struct pcl::PointXYZ;

struct pcl::PointXYZI;

struct pcl::PointXYZRGB;

struct pcl::PointXYZRGBA;

template class pcl::PointCloud;

class KinectAzureDKGrabber : public pcl::Grabber

{

public:

KinectAzureDKGrabber(const int& device_id_, const int& depth_mode_, const int& color_format_, const int& color_resolution_);

virtual ~KinectAzureDKGrabber() throw ();

virtual void start();

virtual void stop();

virtual bool isRunning() const;

virtual std::string getName() const;

virtual float getFramesPerSecond() const;

typedef void (signal_KinectAzureDK_PointXYZ)(const std::shared_ptr>&);

typedef void (signal_KinectAzureDK_PointXYZI)(const std::shared_ptr>&);

typedef void (signal_KinectAzureDK_PointXYZRGB)(const std::shared_ptr>&);

typedef void (signal_KinectAzureDK_PointXYZRGBA)(const std::shared_ptr>&);

protected:

void setupDevice(const int& device_id_, const int& depth_mode_, const int& color_format_, const int& color_resolution_);

boost::signals2::signal* signal_PointXYZ;

boost::signals2::signal* signal_PointXYZI;

boost::signals2::signal* signal_PointXYZRGB;

boost::signals2::signal* signal_PointXYZRGBA;

pcl::PointCloud::Ptr convertDepthToPointXYZ();

pcl::PointCloud::Ptr convertInfraredDepthToPointXYZI();

pcl::PointCloud::Ptr convertRGBDepthToPointXYZRGB();

pcl::PointCloud::Ptr convertRGBADepthToPointXYZRGBA();

std::thread thread;

mutable std::mutex mutex;

void threadFunction();

bool quit;

bool running;

k4a_device_configuration_t config;

k4a::device dev;

int device_id;

k4a::calibration calibration;

k4a::transformation transformation;

int colorWidth;

int colorHeight;

k4a::image colorImage;

int depthWidth;

int depthHeight;

k4a::image depthImage;

int infraredWidth;

int infraredHeight;

k4a::image infraredImage;

public:

k4a::calibration getCalibration();

};

}

2.k4a_grabber.cpp

#include #include "k4a_grabber.h"

pcl::KinectAzureDKGrabber::KinectAzureDKGrabber(const int &device_id_, const int &depth_mode_, const int &color_format_, const int &color_resolution_) :

config(K4A_DEVICE_CONFIG_INIT_DISABLE_ALL),

dev(nullptr),

colorImage(nullptr),

depthImage(nullptr),

infraredImage(nullptr),

running(false),

quit(false),

signal_PointXYZ(nullptr),

signal_PointXYZI(nullptr),

signal_PointXYZRGB(nullptr),

signal_PointXYZRGBA(nullptr)

{

setupDevice(device_id_, depth_mode_, color_format_, color_resolution_);

signal_PointXYZ = createSignal();

signal_PointXYZI = createSignal();

signal_PointXYZRGB = createSignal();

signal_PointXYZRGBA = createSignal();

}

pcl::KinectAzureDKGrabber::~KinectAzureDKGrabber() throw()

{

stop();

disconnect_all_slots();

disconnect_all_slots();

disconnect_all_slots();

disconnect_all_slots();

thread.join();

if (dev)

{

transformation.destroy();

dev.close();

}

}

void pcl::KinectAzureDKGrabber::start()

{

dev = k4a::device::open(device_id);

dev.start_cameras(&config);

calibration = dev.get_calibration(config.depth_mode, config.color_resolution);

transformation = k4a::transformation(calibration);

running = true;

thread