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    發(fā)布日期: 2023-06-16
  • 語(yǔ)言: 其他
  • 標(biāo)簽: KinectV2??

資源簡(jiǎn)介

利用Kinect sdk2.0和PCL1.8,在vs2013中使用cmake配置工程項(xiàng)目獲取點(diǎn)云,并在第100次刷新時(shí)保存點(diǎn)云。 詳見(jiàn)博文http://blog.csdn.net/cs2539263027, 內(nèi)含cmake配置vs2013工程教程。

資源截圖

代碼片段和文件信息

//?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格式文件的輸入輸出頭文件
#include??//PCL對(duì)各種格式的點(diǎn)的支持頭文件
#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?<width?< //cout?<size()?<

//保存點(diǎn)云數(shù)據(jù)
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;
}

?屬性????????????大小?????日期????時(shí)間???名稱(chēng)
-----------?---------??----------?-----??----
?????目錄???????????0??2017-05-29?18:46??KinectGrabber-Kinect2Grabber\
?????文件????????1100??2016-09-11?01:10??KinectGrabber-Kinect2Grabber\License.txt
?????文件????????1358??2016-09-11?01:10??KinectGrabber-Kinect2Grabber\README.md
?????目錄???????????0??2017-07-06?21:58??KinectGrabber-Kinect2Grabber\Sample\
?????文件?????????847??2016-09-11?01:10??KinectGrabber-Kinect2Grabber\Sample\CMakeLists.txt
?????文件????????7138??2016-09-11?01:10??KinectGrabber-Kinect2Grabber\Sample\FindKinectSDK2.cmake
?????目錄???????????0??2017-07-06?22:05??KinectGrabber-Kinect2Grabber\Sample\build\
?????文件???????59578??2017-06-07?20:29??KinectGrabber-Kinect2Grabber\Sample\build\ALL_BUILD.vcxproj
?????文件?????????310??2017-06-07?20:29??KinectGrabber-Kinect2Grabber\Sample\build\ALL_BUILD.vcxproj.filters
?????文件???????54568??2017-06-07?20:29??KinectGrabber-Kinect2Grabber\Sample\build\CMakeCache.txt
?????目錄???????????0??2017-06-07?20:30??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\
?????目錄???????????0??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\
?????文件????????1954??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CMakeCCompiler.cmake
?????文件????????2751??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CMakeCXXCompiler.cmake
?????文件???????36864??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CMakeDetermineCompilerABI_C.bin
?????文件???????36864??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CMakeDetermineCompilerABI_CXX.bin
?????文件?????????272??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CMakeRCCompiler.cmake
?????文件?????????395??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CMakeSystem.cmake
?????目錄???????????0??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\
?????文件???????17387??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\CMakeCCompilerId.c
?????文件???????10240??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\CompilerIdC.exe
?????文件????????2403??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\CompilerIdC.vcxproj
?????目錄???????????0??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\Debug\
?????文件????????2011??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\Debug\CMakeCCompilerId.obj
?????目錄???????????0??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\Debug\CompilerIdC.tlog\
?????文件?????????556??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\Debug\CompilerIdC.tlog\CL.read.1.tlog
?????文件?????????464??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\Debug\CompilerIdC.tlog\CL.write.1.tlog
?????文件?????????222??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\Debug\CompilerIdC.tlog\CompilerIdC.lastbuildstate
?????文件?????????724??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\Debug\CompilerIdC.tlog\cl.command.1.tlog
?????文件????????1064??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\Debug\CompilerIdC.tlog\link.command.1.tlog
?????文件????????2932??2017-06-07?20:28??KinectGrabber-Kinect2Grabber\Sample\build\CMakeFiles\3.6.3\CompilerIdC\Debug\CompilerIdC.tlog\link.read.1.tlog
............此處省略69個(gè)文件信息

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