如何使用点云库捕获一帧？
[英]How can I capture one frame using a Point Cloud Library?
问题描述
// Sample_PCL.cpp : Defines the entry point for the console application.
//
#include "stdafx.h"
#define NOMINMAX
#include <Windows.h>
#include <Kinect.h> // Kinectを使用するためのヘッダファイル
#include <pcl/visualization/cloud_viewer.h> // PCLを使用して表示するためのヘッダファイル
#include <pcl/io/pcd_io.h> // 点群データを保存するためのヘッダファイル(.pcd, .ply)
//#include <pcl/io/ply_io.h>
#include <pcl/point_types.h>
#include <iostream>
template<class Interface>
inline void SafeRelease(Interface *& pInterfaceToRelease)
{
if (pInterfaceToRelease != NULL) {
pInterfaceToRelease->Release();
}
}
int main()
{
// Create Sensor Instance
IKinectSensor* pSensor;
HRESULT hResult = S_OK;
hResult = GetDefaultKinectSensor(&pSensor);
if (FAILED(hResult)) {
std::cerr << "Error : GetDefaultKinectSensor" << std::endl;
return -1;
}
printf("GetDfaultKinectSensor is OK\n");
// Open Sensor
hResult = pSensor->Open();
if (FAILED(hResult)) {
std::cerr << "Error : IKinectSensor::Open()" << std::endl;
return -1;
}
printf("IKinectSensor::Open is OK\n");
// Retrieved Coordinate Mapper
ICoordinateMapper* pCoordinateMapper;
hResult = pSensor->get_CoordinateMapper(&pCoordinateMapper);
if (FAILED(hResult)) {
std::cerr << "Error : IKinectSensor::get_CoordinateMapper()" << std::endl;
return -1;
}
printf("IKinectSensor::get_CoordinateMapper is OK\n");
// Retrieved Color Frame Source
IColorFrameSource* pColorSource;
hResult = pSensor->get_ColorFrameSource(&pColorSource);
if (FAILED(hResult)) {
std::cerr << "Error : IKinectSensor::get_ColorFrameSource()" << std::endl;
return -1;
}
printf("IKinectSensor::get_ColorFrameSource is OK\n");
// Open Color Frame Reader
IColorFrameReader* pColorReader;
hResult = pColorSource->OpenReader(&pColorReader);
if (FAILED(hResult)) {
std::cerr << "Error : IColorFrameSource::OpenReader()" << std::endl;
return -1;
}
printf("IColorFrameSource::OpenReader is OK\n");
// Retrieved Depth Frame Source
IDepthFrameSource* pDepthSource;
hResult = pSensor->get_DepthFrameSource(&pDepthSource);
if (FAILED(hResult)) {
std::cerr << "Error : IKinectSensor::get_DepthFrameSource()" << std::endl;
return -1;
}
printf("IKinectSensor::get_DepthFrameSource is OK\n");
// Open Depth Frame Reader
IDepthFrameReader* pDepthReader;
hResult = pDepthSource->OpenReader(&pDepthReader);
if (FAILED(hResult)) {
std::cerr << "Error : IDepthFrameSource::OpenReader()" << std::endl;
return -1;
}
printf("IDepthFrameSource::OpenReader is OK\n");
// Retrieved Color Frame Size
IFrameDescription* pColorDescription;
hResult = pColorSource->get_FrameDescription(&pColorDescription);
if (FAILED(hResult)) {
std::cerr << "Error : IColorFrameSource::get_FrameDescription()" << std::endl;
return -1;
}
printf("IColorFrameSource::get_FrameDescription is OK\n");
int colorWidth = 0;
int colorHeight = 0;
pColorDescription->get_Width(&colorWidth); // 1920
pColorDescription->get_Height(&colorHeight); // 1080
// To Reserve Color Frame Buffer
std::vector<RGBQUAD> colorBuffer(colorWidth * colorHeight);
// Retrieved Depth Frame Size
IFrameDescription* pDepthDescription;
hResult = pDepthSource->get_FrameDescription(&pDepthDescription);
if (FAILED(hResult)) {
std::cerr << "Error : IDepthFrameSource::get_FrameDescription()" << std::endl;
return -1;
}
printf("IDepthFrameSource::get_FrameDescription is OK\n");
int depthWidth = 0;
int depthHeight = 0;
pDepthDescription->get_Width(&depthWidth); // 512
pDepthDescription->get_Height(&depthHeight); // 424
// To Reserve Depth Frame Buffer
std::vector<UINT16> depthBuffer(depthWidth * depthHeight);
printf("Display Point Cloud\n");
// Create Cloud Viewer
pcl::visualization::CloudViewer viewer("Point Cloud Viewer"); // 点群のウィンドウ表示
while (!viewer.wasStopped()) {
// Acquire Latest Color Frame
IColorFrame* pColorFrame = nullptr;
hResult = pColorReader->AcquireLatestFrame(&pColorFrame);
if (SUCCEEDED(hResult)) {
// Retrieved Color Data
hResult = pColorFrame->CopyConvertedFrameDataToArray(colorBuffer.size() * sizeof(RGBQUAD), reinterpret_cast<BYTE*>(&colorBuffer[0]), ColorImageFormat::ColorImageFormat_Bgra);
if (FAILED(hResult)) {
std::cerr << "Error : IColorFrame::CopyConvertedFrameDataToArray()" << std::endl;
}
}
SafeRelease(pColorFrame);
// Acquire Latest Depth Frame
IDepthFrame* pDepthFrame = nullptr;
hResult = pDepthReader->AcquireLatestFrame(&pDepthFrame);
if (SUCCEEDED(hResult)) {
// Retrieved Depth Data
hResult = pDepthFrame->CopyFrameDataToArray(depthBuffer.size(), &depthBuffer[0]);
if (FAILED(hResult)) {
std::cerr << "Error : IDepthFrame::CopyFrameDataToArray()" << std::endl;
}
}
SafeRelease(pDepthFrame);
// Point Cloud Libraryの設定
// Create Point Cloud
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud(new pcl::PointCloud<pcl::PointXYZRGB>()); // PCLの構造体
pointcloud->width = static_cast<uint32_t>(depthWidth); // 点群の数
pointcloud->height = static_cast<uint32_t>(depthHeight);
pointcloud->is_dense = false;
for (int y = 0; y < depthHeight; y++) {
for (int x = 0; x < depthWidth; x++) {
pcl::PointXYZRGB point; // PCLで使用する点群情報
DepthSpacePoint depthSpacePoint = { static_cast<float>(x), static_cast<float>(y) };
UINT16 depth = depthBuffer[y * depthWidth + x];
// Coordinate Mapping Depth to Color Space, and Setting PointCloud RGB
ColorSpacePoint colorSpacePoint = { 0.0f, 0.0f };
pCoordinateMapper->MapDepthPointToColorSpace(depthSpacePoint, depth, &colorSpacePoint); // 色の座標系
int colorX = static_cast<int>(std::floor(colorSpacePoint.X + 0.5f));
int colorY = static_cast<int>(std::floor(colorSpacePoint.Y + 0.5f));
if ((0 <= colorX) && (colorX < colorWidth) && (0 <= colorY) && (colorY < colorHeight)) {
RGBQUAD color = colorBuffer[colorY * colorWidth + colorX];
// 色の情報を格納する
point.b = color.rgbBlue;
point.g = color.rgbGreen;
point.r = color.rgbRed;
}
// Coordinate Mapping Depth to Camera Space, and Setting PointCloud XYZ
CameraSpacePoint cameraSpacePoint = { 0.0f, 0.0f, 0.0f }; // カメラ空間
pCoordinateMapper->MapDepthPointToCameraSpace(depthSpacePoint, depth, &cameraSpacePoint);
if ((0 <= colorX) && (colorX < colorWidth) && (0 <= colorY) && (colorY < colorHeight)) {
// 直交座標系の情報を格納する
point.x = cameraSpacePoint.X;
point.y = cameraSpacePoint.Y;
point.z = cameraSpacePoint.Z;
}
pointcloud->push_back(point);
}
}
// Show Point Cloud on Cloud Viewer
viewer.showCloud(pointcloud);
// Input Key ( Exit ESC key )
if (GetKeyState(VK_ESCAPE) < 0) {
pcl::io::savePCDFile("PointCloud.pcd", *pointcloud);
//pcl::io::savePLYFile("test_pcd2.ply", *pointcloud); // 最後に取得した点群を保存
printf("Save Point Cloud Data\n");
//break;
}
}
// End Processing
SafeRelease(pColorSource);
SafeRelease(pDepthSource);
SafeRelease(pColorReader);
SafeRelease(pDepthReader);
SafeRelease(pColorDescription);
SafeRelease(pDepthDescription);
SafeRelease(pCoordinateMapper);
if (pSensor) {
pSensor->Close();
}
SafeRelease(pSensor);
printf("Disconnect Kinect Sensor\n");
return 0;
}
The previous code is a code taken from a tutorial from the Point Cloud Library Website uses the Kinect to display a Point Cloud of what the Kinect sees in real time. 
前面的代码是从点云库网站的教程中获取的代码，它使用Kinect实时显示Kinect看到的点云。 Therefore The Point Cloud is constantly changing. 因此，点云在不断变化。 That is why I would like to get just a frame, in other words, I would like the point cloud to freeze instead of constantly capturing new frames. 这就是为什么我只想得到一个框架，换句话说，我希望点云冻结而不是不断捕获新的框架。
and here is my modification. 这是我的修改。
// Sample_PCL.cpp : Defines the entry point for the console application.
//
#include "stdafx.h"
#define NOMINMAX
#include <Windows.h>
#include <Kinect.h> // Kinectを使用するためのヘッダファイル
#include <pcl/visualization/cloud_viewer.h> // PCLを使用して表示するためのヘッダファイル
#include <pcl/io/pcd_io.h> // 点群データを保存するためのヘッダファイル(.pcd, .ply)
//#include <pcl/io/ply_io.h>
#include <pcl/point_types.h>
#include <iostream>
template<class Interface>
inline void SafeRelease(Interface *& pInterfaceToRelease)
{
if (pInterfaceToRelease != NULL) {
pInterfaceToRelease->Release();
}
}
int main()
{
// Create Sensor Instance
IKinectSensor* pSensor;
HRESULT hResult = S_OK;
hResult = GetDefaultKinectSensor(&pSensor);
if (FAILED(hResult)) {
std::cerr << "Error : GetDefaultKinectSensor" << std::endl;
return -1;
}
printf("GetDfaultKinectSensor is OK\n");
// Open Sensor
hResult = pSensor->Open();
if (FAILED(hResult)) {
std::cerr << "Error : IKinectSensor::Open()" << std::endl;
return -1;
}
printf("IKinectSensor::Open is OK\n");
// Retrieved Coordinate Mapper
ICoordinateMapper* pCoordinateMapper;
hResult = pSensor->get_CoordinateMapper(&pCoordinateMapper);
if (FAILED(hResult)) {
std::cerr << "Error : IKinectSensor::get_CoordinateMapper()" << std::endl;
return -1;
}
printf("IKinectSensor::get_CoordinateMapper is OK\n");
// Retrieved Color Frame Source
IColorFrameSource* pColorSource;
hResult = pSensor->get_ColorFrameSource(&pColorSource);
if (FAILED(hResult)) {
std::cerr << "Error : IKinectSensor::get_ColorFrameSource()" << std::endl;
return -1;
}
printf("IKinectSensor::get_ColorFrameSource is OK\n");
// Open Color Frame Reader
IColorFrameReader* pColorReader;
hResult = pColorSource->OpenReader(&pColorReader);
if (FAILED(hResult)) {
std::cerr << "Error : IColorFrameSource::OpenReader()" << std::endl;
return -1;
}
printf("IColorFrameSource::OpenReader is OK\n");
// Retrieved Depth Frame Source
IDepthFrameSource* pDepthSource;
hResult = pSensor->get_DepthFrameSource(&pDepthSource);
if (FAILED(hResult)) {
std::cerr << "Error : IKinectSensor::get_DepthFrameSource()" << std::endl;
return -1;
}
printf("IKinectSensor::get_DepthFrameSource is OK\n");
// Open Depth Frame Reader
IDepthFrameReader* pDepthReader;
hResult = pDepthSource->OpenReader(&pDepthReader);
if (FAILED(hResult)) {
std::cerr << "Error : IDepthFrameSource::OpenReader()" << std::endl;
return -1;
}
printf("IDepthFrameSource::OpenReader is OK\n");
// Retrieved Color Frame Size
IFrameDescription* pColorDescription;
hResult = pColorSource->get_FrameDescription(&pColorDescription);
if (FAILED(hResult)) {
std::cerr << "Error : IColorFrameSource::get_FrameDescription()" << std::endl;
return -1;
}
printf("IColorFrameSource::get_FrameDescription is OK\n");
int colorWidth = 0;
int colorHeight = 0;
pColorDescription->get_Width(&colorWidth); // 1920
pColorDescription->get_Height(&colorHeight); // 1080
// To Reserve Color Frame Buffer
std::vector<RGBQUAD> colorBuffer(colorWidth * colorHeight);
// Retrieved Depth Frame Size
IFrameDescription* pDepthDescription;
hResult = pDepthSource->get_FrameDescription(&pDepthDescription);
if (FAILED(hResult)) {
std::cerr << "Error : IDepthFrameSource::get_FrameDescription()" << std::endl;
return -1;
}
printf("IDepthFrameSource::get_FrameDescription is OK\n");
int depthWidth = 0;
int depthHeight = 0;
pDepthDescription->get_Width(&depthWidth); // 512
pDepthDescription->get_Height(&depthHeight); // 424
// To Reserve Depth Frame Buffer
std::vector<UINT16> depthBuffer(depthWidth * depthHeight);
printf("Display Point Cloud\n");
// Create Cloud Viewer
pcl::visualization::CloudViewer viewer("Point Cloud Viewer"); // 点群のウィンドウ表示
//while (!viewer.wasStopped()) {
// Acquire Latest Color Frame
IColorFrame* pColorFrame = nullptr;
hResult = pColorReader->AcquireLatestFrame(&pColorFrame);
if (SUCCEEDED(hResult)) {
// Retrieved Color Data
hResult = pColorFrame->CopyConvertedFrameDataToArray(colorBuffer.size() * sizeof(RGBQUAD), reinterpret_cast<BYTE*>(&colorBuffer[0]), ColorImageFormat::ColorImageFormat_Bgra);
if (FAILED(hResult)) {
std::cerr << "Error : IColorFrame::CopyConvertedFrameDataToArray()" << std::endl;
}
}
SafeRelease(pColorFrame);
// Acquire Latest Depth Frame
IDepthFrame* pDepthFrame = nullptr;
hResult = pDepthReader->AcquireLatestFrame(&pDepthFrame);
if (SUCCEEDED(hResult)) {
// Retrieved Depth Data
hResult = pDepthFrame->CopyFrameDataToArray(depthBuffer.size(), &depthBuffer[0]);
if (FAILED(hResult)) {
std::cerr << "Error : IDepthFrame::CopyFrameDataToArray()" << std::endl;
}
}
SafeRelease(pDepthFrame);
// Point Cloud Libraryの設定
// Create Point Cloud
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud(new pcl::PointCloud<pcl::PointXYZRGB>()); // PCLの構造体
pointcloud->width = static_cast<uint32_t>(depthWidth); // 点群の数
pointcloud->height = static_cast<uint32_t>(depthHeight);
pointcloud->is_dense = false;
for (int y = 0; y < depthHeight; y++) {
for (int x = 0; x < depthWidth; x++) {
//printf("scann\n");
pcl::PointXYZRGB point; // PCLで使用する点群情報
DepthSpacePoint depthSpacePoint = { static_cast<float>(x), static_cast<float>(y) };
UINT16 depth = depthBuffer[y * depthWidth + x];
// Coordinate Mapping Depth to Color Space, and Setting PointCloud RGB
ColorSpacePoint colorSpacePoint = { 0.0f, 0.0f };
pCoordinateMapper->MapDepthPointToColorSpace(depthSpacePoint, depth, &colorSpacePoint); // 色の座標系
int colorX = static_cast<int>(std::floor(colorSpacePoint.X + 0.5f));
int colorY = static_cast<int>(std::floor(colorSpacePoint.Y + 0.5f));
if ((0 <= colorX) && (colorX < colorWidth) && (0 <= colorY) && (colorY < colorHeight)) {
RGBQUAD color = colorBuffer[colorY * colorWidth + colorX];
// 色の情報を格納する
point.b = color.rgbBlue;
point.g = color.rgbGreen;
point.r = color.rgbRed;
}
// Coordinate Mapping Depth to Camera Space, and Setting PointCloud XYZ
CameraSpacePoint cameraSpacePoint = { 0.0f, 0.0f, 0.0f }; // カメラ空間
pCoordinateMapper->MapDepthPointToCameraSpace(depthSpacePoint, depth, &cameraSpacePoint);
if ((0 <= colorX) && (colorX < colorWidth) && (0 <= colorY) && (colorY < colorHeight)) {
// 直交座標系の情報を格納する
point.x = cameraSpacePoint.X;
point.y = cameraSpacePoint.Y;
point.z = cameraSpacePoint.Z;
}
pointcloud->push_back(point);
}
//}
viewer.showCloud(pointcloud);
while (!viewer.wasStopped())
{
}
/*pcl::io::savePCDFile("PointCloud.pcd", *pointcloud);
printf("Saved Point Cloud Data\n");
// Show Point Cloud on Cloud Viewer
printf("Open viewer\n");
viewer.showCloud(pointcloud);
while (!viewer.wasStopped()) {
}*/
// Input Key ( Exit ESC key )
if (GetKeyState(VK_ESCAPE) < 0) {
pcl::io::savePCDFile("PointCloud.pcd", *pointcloud);
//pcl::io::savePLYFile("test_pcd2.ply", *pointcloud); // 最後に取得した点群を保存
printf("Save Point Cloud Data\n");
//break;
}
}
// End Processing
SafeRelease(pColorSource);
SafeRelease(pDepthSource);
SafeRelease(pColorReader);
SafeRelease(pDepthReader);
SafeRelease(pColorDescription);
SafeRelease(pDepthDescription);
SafeRelease(pCoordinateMapper);
if (pSensor) {
pSensor->Close();
}
SafeRelease(pSensor);
printf("Disconnect Kinect Sensor\n");
return 0;
}
The modification mainly consists of removing the loop that updates the point cloud constantly which is: You can see it commented in the second code. 修改主要包括删除不断更新点云的循环，即：您可以在第二个代码中看到它的注释。
while (!viewer.wasStopped())
The problem is that the the Point cloud viewer does not display any data received by the Kinect, and I would like to know the reason why it could not be displayed. 问题是点云查看器不显示Kinect接收到的任何数据，我想知道无法显示它的原因。
1 个解决方案
解决方案1
1 已采纳 2016-10-12 05:49:34
Your code only seems to show the very first frame it receives from the Kinect, which might be empty or invalid. 您的代码似乎只显示它从Kinect接收到的第一帧，该帧可能为空或无效。 Did you check if the points in the cloud you're taking are sane? 您是否检查过云中的点是否理智？
However, you might want to approach the problem differently: 但是，您可能希望以不同的方式解决该问题：
- Leave the visualization loop as it is. 保持可视化循环不变。
- Register a key handler using
registerKeyboardCallback( doc ).使用registerKeyboardCallback（ doc ）注册密钥处理程序。 - When a specific key is pressed, set a boolean to true. 当按下特定键时，将布尔值设置为true。
- In the visualization loop, if that boolean variable is true, skip the frame grabbing from the Kinect. 在可视化循环中，如果该布尔变量为true，则跳过从Kinect抓取的帧。 It should retain the previously set cloud. 它应保留先前设置的云。
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