kinect2.0数据采集及点云生成代码C++

需安装kinectSDK_v2.0，配置opencv和pcl库。可设置采集帧数，开始采集后会在本地保存相互对齐的彩色数据、深度数据和对应的点云文件

#include “prepare.h“

#define frameCount 5

int main（int argc char**argv）
{
	clock_t time = clock（）;
	//preparatory work
	Kinect kinect;
	if （kinect.kinectStart（） != 0）
	{
		cout << “failed to start“;
		return -1;
	}
	//prepare buffer
	Mat DepthBuffer（Image::iDepthHeight Image::iDepthWidth CV_16UC1）;
	Mat DepthBufferT（Image::iDepthHeight Image::iDepthWidth CV_8UC1）;
	Mat ColorBuffer（Image::iColorHeight Image::iColorWidth CV_8UC4）;
	Mat MappedColor（Image::iDepthHeight Image::iDepthWidth CV_8UC3）;
	Mat MappedDepth（Image::iColorHeight Image::iColorWidth CV_8UC1）;
	ColorSpacePoint* pColorSpacePoint = new ColorSpacePoint[Image::iDepthframeSize];
	DepthSpacePoint* pDepthSpacePoint = new DepthSpacePoint[Image::iColorframeSize];
	CameraSpacePoint* pCameraSpacePoint = new CameraSpacePoint[Image::iColorframeSize];
	//prepare image file
	string str[frameCount];
	for （int i = 0; i < frameCount; i++）
	{
		char c[3];
		_itoa（i c 10）;
		str[i] = c;
	}
	//get frame info
	for （int i = 0; i < frameCount; i++）
	{
		//get depth data
		while （kinect.pDepthframeReader->AcquireLatestframe（&kinect.pDepthframe） != S_OK）;
		while （kinect.pDepthframe->CopyframeDataToArray（Image::iDepthframeSize （UINT16*）DepthBuffer.data） != S_OK）;
		kinect.releaseDepthframe（）;
		DepthBuffer.convertTo（DepthBufferT CV_8U 255.0f / Image::iDepthMax）;
		//get color data
		while （kinect.pColorframeReader->AcquireLatestframe（&kinect.pColorframe） != S_OK）;
		while （kinect.pColorframe->CopyConvertedframeDataToArray（Image::iColorframeSize * 4 ColorBuffer.data ColorImageFormat_Bgra） != S_OK）;
		kinect.releaseColorframe（）;
		//prepare point cloud data buffer
		PointCloud::Ptr cloud_depth（new PointCloud）;
		cloud_depth->width = Image::iDepthWidth;
		cloud_depth->height = Image::iDepthHeight;
		cloud_depth->is_dense = false;
		cloud_depth->resize（Image::iDepthframeSize）;
		/*PointCloud::Ptr cloud_color（new PointCloud）;
		cloud_color->width = Image::iColorWidth;
		cloud_color->height = Image::iColorHeight;
		cloud_color->is_dense = false;
		cloud_color->resize（Image::iColorframeSize）;*/

		//map coordinate
		kinect.coordinateMap（（UINT16*）DepthBuffer.data pColorSpacePoint pCameraSpacePoint &MappedColor &ColorBuffer cloud_depth）;
		//kinect.coordinateMap（（UINT16*）DepthBuffer.data pDepthSpacePoint pCameraSpacePoint &MappedDepth DepthBufferT.data &ColorBuffer cloud_color）;

		//save mapped depth-color image
		imwrite（“g://“ + str[i] + “1depth.png“ DepthBufferT）;
		imwrite（“g://“ + str[i] + “1color.png“ MappedColor）;
		io::savePCDFile（“g://“ + str[i] + “1depth.pcd“ *cloud_depth）;
		//imwrite（“g://“ + str[i] + “0color.png“ ColorBuffer）;
		//imwrite（“g://“ + str[i] + “0depth.png“ MappedDepth）;
		//io::savePLYFile（“g://“ + str[i] + “0color.ply“ *cloud_color）;
	}
	//release dynamic array
	delete[] pColorSpacePoint;
	delete[] pDepthSpacePoint;
	delete[] pCamer

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件       7728  2017-04-03 21:56  3D_Reconstruction1\3D_Reconstruction\3D_Reconstruction.vcxproj

     文件       1177  2017-04-03 21:56  3D_Reconstruction1\3D_Reconstruction\3D_Reconstruction.vcxproj.filters

     文件        634  2017-04-03 20:19  3D_Reconstruction1\3D_Reconstruction\3D_Reconstruction.vcxproj.user

     文件       3119  2017-05-09 02:04  3D_Reconstruction1\3D_Reconstruction\main.cpp

     文件       9456  2017-05-08 18:40  3D_Reconstruction1\3D_Reconstruction\prepare.cpp

     文件       1346  2017-05-08 01:26  3D_Reconstruction1\3D_Reconstruction\prepare.h

     文件        168  2017-05-09 02:02  3D_Reconstruction1\3D_Reconstruction\x64\Debug\3D_Recon.923DBE24.tlog\3D_Reconstruction.lastbuildstate

     文件      12504  2017-05-09 02:02  3D_Reconstruction1\3D_Reconstruction\x64\Debug\3D_Recon.923DBE24.tlog\cl.command.1.tlog

     文件    1447542  2017-05-09 02:02  3D_Reconstruction1\3D_Reconstruction\x64\Debug\3D_Recon.923DBE24.tlog\CL.read.1.tlog

     文件       4234  2017-05-09 02:02  3D_Reconstruction1\3D_Reconstruction\x64\Debug\3D_Recon.923DBE24.tlog\CL.write.1.tlog

     文件      15536  2017-05-09 02:02  3D_Reconstruction1\3D_Reconstruction\x64\Debug\3D_Recon.923DBE24.tlog\link.command.1.tlog

     文件      31766  2017-05-09 02:02  3D_Reconstruction1\3D_Reconstruction\x64\Debug\3D_Recon.923DBE24.tlog\link.read.1.tlog

     文件        728  2017-05-09 02:02  3D_Reconstruction1\3D_Reconstruction\x64\Debug\3D_Recon.923DBE24.tlog\link.write.1.tlog

     文件       7899  2017-05-09 02:02  3D_Reconstruction1\3D_Reconstruction\x64\Debug\3D_Reconstruction.log

     文件    2155213  2017-05-09 02:02  3D_Reconstruction1\3D_Reconstruction\x64\Debug\main.obj

     文件    1778604  2017-04-03 21:40  3D_Reconstruction1\3D_Reconstruction\x64\Debug\mainMapToDepth.obj

     文件    1783053  2017-04-03 20:37  3D_Reconstruction1\3D_Reconstruction\x64\Debug\main_MapToDepth.obj

     文件     311844  2017-03-28 17:03  3D_Reconstruction1\3D_Reconstruction\x64\Debug\main_test.obj

     文件     338833  2017-03-29 20:41  3D_Reconstruction1\3D_Reconstruction\x64\Debug\main_test3.obj

     文件     274642  2017-03-28 17:00  3D_Reconstruction1\3D_Reconstruction\x64\Debug\main_test_1.obj

     文件     301148  2017-03-29 15:10  3D_Reconstruction1\3D_Reconstruction\x64\Debug\mian_test2.obj

     文件    1146081  2017-05-08 18:46  3D_Reconstruction1\3D_Reconstruction\x64\Debug\prepare.obj

     文件   12160000  2017-05-09 02:02  3D_Reconstruction1\3D_Reconstruction\x64\Debug\vc120.idb

     文件   15437824  2017-05-09 02:02  3D_Reconstruction1\3D_Reconstruction\x64\Debug\vc120.pdb

     文件    7274496  2018-06-20 14:58  3D_Reconstruction1\3D_Reconstruction.sdf

     文件       1351  2017-03-28 10:24  3D_Reconstruction1\3D_Reconstruction.sln

    ..A..H.     58368  2018-06-20 14:58  3D_Reconstruction1\3D_Reconstruction.v12.suo

     文件     329216  2017-05-09 02:02  3D_Reconstruction1\x64\Debug\3D_Reconstruction.exe

     文件    2671204  2017-05-09 02:02  3D_Reconstruction1\x64\Debug\3D_Reconstruction.ilk

     文件   17272832  2017-05-09 02:02  3D_Reconstruction1\x64\Debug\3D_Reconstruction.pdb

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