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資源簡介

用的xtion（kinect也相同）和openni獲取深度數(shù)據(jù)，轉(zhuǎn)換為三維點云后在opengl中表示（用彩色數(shù)據(jù)作紋理），可用鼠標和鍵盤對三維點云進行旋轉(zhuǎn)與縮放。

資源截圖

代碼片段和文件信息 

#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?

using?namespace?std;
using?namespace?openni;
using?namespace?cv;

float?xyzdata[480][640][3];
float?texture[480][640][3];

void?showdevice（）{
	//?獲取設(shè)備信息??
	Array?aDeviceList;
	OpenNI::enumerateDevices（&aDeviceList）;

	cout?<
	for?（int?i?=?0;?i?	{
		cout?<		const?DeviceInfo&?rDevInfo?=?aDeviceList[i];
		cout?<		cout?<		cout?<		cout?<		cout?<
	}
}

void*?GetDataFromXtion（void?*p）
{
	Status?rc?=?STATUS_OK;

	//?初始化OpenNI環(huán)境
	OpenNI::initialize（）;

	showdevice（）;

	//?聲明并打開Device設(shè)備。
	Device?xtion;
	const?char?*?deviceURL?=?openni::ANY_DEVICE;??//設(shè)備名
	rc?=?xtion.open（deviceURL）;

	//?創(chuàng)建深度數(shù)據(jù)流
	VideoStream?streamDepth;
	rc?=?streamDepth.create（xtion?SENSOR_DEPTH）;
	if?（rc?==?STATUS_OK）
	{
		//?設(shè)置深度圖像視頻模式
		VideoMode?mModeDepth;
		//?分辨率大小
		mModeDepth.setResolution（640?480）;
		//?每秒30幀
		mModeDepth.setFps（30）;
		//?像素格式
		mModeDepth.setPixelFormat（PIXEL_FORMAT_DEPTH_1_MM）;

		streamDepth.setVideoMode（mModeDepth）;
		streamDepth.setMirroringEnabled（false）;

		//?打開深度數(shù)據(jù)流
		rc?=?streamDepth.start（）;
		if?（rc?!=?STATUS_OK）
		{
			cerr?<			streamDepth.destroy（）;
		}
	}
	else
	{
		cerr?<	}

	//?創(chuàng)建彩色圖像數(shù)據(jù)流
	VideoStream?streamColor;
	rc?=?streamColor.create（xtion?SENSOR_COLOR）;
	if?（rc?==?STATUS_OK）
	{
		//?同樣的設(shè)置彩色圖像視頻模式
		VideoMode?mModeColor;
		mModeColor.setResolution（320?240）;
		mModeColor.setFps（30）;
		mModeColor.setPixelFormat（PIXEL_FORMAT_RGB888）;

		streamColor.setVideoMode（mModeColor）;
		//?解決鏡像問題
		streamColor.setMirroringEnabled（false）;
		//?打開彩色圖像數(shù)據(jù)流
		rc?=?streamColor.start（）;
		if?（rc?!=?STATUS_OK）
		{
			cerr?<			streamColor.destroy（）;
		}
	}
	else
	{
		cerr?<	}

	if?（!streamColor.isValid（）?||?!streamDepth.isValid（））
	{
		cerr?<		OpenNI::shutdown（）;
		return?NULL;
	}

	//?圖像模式注冊彩色圖與深度圖對齊
	if?（xtion.isImageRegistrationModeSupported（
		IMAGE_REGISTRATION_DEPTH_TO_COLOR））
	{
		xtion.setImageRegistrationMode（IMAGE_REGISTRATION_DEPTH_TO_COLOR）;
	}

	//?創(chuàng)建OpenCV圖像窗口
	namedWindow（“Depth?Image“?CV_WINDOW_AUTOSIZE）;
	namedWindow（“Color?Image“?CV_WINDOW_AUTOSIZE）;

	//?獲得最大深度值
	int?iMaxDepth?=?streamDepth.getMaxPixelValue（）;????//iMaxDepth一般

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????4606??2015-11-03?19:34??3D_Cloud_Points\3D_Cloud_Points\3D_Cloud_Points.vcxproj

?????文件????????944??2015-11-03?15:57??3D_Cloud_Points\3D_Cloud_Points\3D_Cloud_Points.vcxproj.filters

?????文件???????1905??2015-11-12?16:13??3D_Cloud_Points\3D_Cloud_Points\Debug\3D_Cloud_Points.log

?????文件????????200??2015-11-12?16:13??3D_Cloud_Points\3D_Cloud_Points\Debug\3D_Cloud_Points.tlog\3D_Cloud_Points.lastbuildstate

?????文件????????922??2015-11-12?16:13??3D_Cloud_Points\3D_Cloud_Points\Debug\3D_Cloud_Points.tlog\cl.command.1.tlog

?????文件??????27330??2015-11-12?16:13??3D_Cloud_Points\3D_Cloud_Points\Debug\3D_Cloud_Points.tlog\CL.read.1.tlog

?????文件????????760??2015-11-12?16:13??3D_Cloud_Points\3D_Cloud_Points\Debug\3D_Cloud_Points.tlog\CL.write.1.tlog

?????文件???????1794??2015-11-12?16:13??3D_Cloud_Points\3D_Cloud_Points\Debug\3D_Cloud_Points.tlog\link.command.1.tlog

?????文件???????3832??2015-11-12?16:13??3D_Cloud_Points\3D_Cloud_Points\Debug\3D_Cloud_Points.tlog\link.read.1.tlog

?????文件????????744??2015-11-12?16:13??3D_Cloud_Points\3D_Cloud_Points\Debug\3D_Cloud_Points.tlog\link.write.1.tlog

?????文件?????715776??2015-11-12?16:13??3D_Cloud_Points\3D_Cloud_Points\Debug\vc120.idb

?????文件?????765952??2015-11-12?16:13??3D_Cloud_Points\3D_Cloud_Points\Debug\vc120.pdb

?????文件?????281263??2015-11-12?16:13??3D_Cloud_Points\3D_Cloud_Points\Debug\源.obj

?????文件??????12024??2015-11-04?11:57??3D_Cloud_Points\3D_Cloud_Points\xyzdata.txt

?????文件??????11848??2015-11-12?16:13??3D_Cloud_Points\3D_Cloud_Points\源.cpp

?????文件???38535168??2015-11-12?16:26??3D_Cloud_Points\3D_Cloud_Points.sdf

?????文件????????991??2015-11-03?15:52??3D_Cloud_Points\3D_Cloud_Points.sln

????..A..H.?????31232??2015-11-12?16:26??3D_Cloud_Points\3D_Cloud_Points.v12.suo

?????文件?????112128??2015-11-12?16:13??3D_Cloud_Points\Debug\3D_Cloud_Points.exe

?????文件????1915964??2015-11-12?16:13??3D_Cloud_Points\Debug\3D_Cloud_Points.ilk

?????文件????3182592??2015-11-12?16:13??3D_Cloud_Points\Debug\3D_Cloud_Points.pdb

?????目錄??????????0??2015-11-12?16:13??3D_Cloud_Points\3D_Cloud_Points\Debug\3D_Cloud_Points.tlog

?????目錄??????????0??2015-11-12?16:13??3D_Cloud_Points\3D_Cloud_Points\Debug

?????目錄??????????0??2015-11-12?16:13??3D_Cloud_Points\3D_Cloud_Points

?????目錄??????????0??2015-11-10?21:30??3D_Cloud_Points\Debug

?????目錄??????????0??2015-11-12?16:26??3D_Cloud_Points

-----------?---------??----------?-----??----

?????????????45607975????????????????????26


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