PCL OpenNI2Grabber получить Point Cloud без зрителя

Question

У меня есть камера Asus XTION. На моем ПК установлена ​​Windows 7 с установленной Visual Studio 2013. Я также получил PCL, openCV, скомпилированный для VS2013, и драйвер openNi запущен. Теперь я хочу получить облако точек от камеры. С образцом я могу просмотреть фактические кадры и сохранить один:

// Original code by Geoffrey Biggs, taken from the PCL tutorial in 
    // http://pointclouds.org/documentation/tutorials/pcl_visualizer.php 

    // Simple OpenNI viewer that also allows to write the current scene to a .pcd 
    // when pressing SPACE. 
    #define _CRT_SERCURE_NO_WARNINGS 
    #include <pcl/io/openni2_grabber.h> 
    #include <pcl/io/pcd_io.h> 
    #include <pcl/visualization/cloud_viewer.h> 
    #include <pcl/console/parse.h> 
    #include <pcl/filters/passthrough.h> 

    #include <iostream> 

    using namespace std; 
    using namespace pcl; 

    PointCloud<PointXYZRGBA>::Ptr cloudptr(new PointCloud<PointXYZRGBA>); // A cloud that will store color info. 
    PointCloud<PointXYZ>::Ptr fallbackCloud(new PointCloud<PointXYZ>); // A fallback cloud with just depth data. 
    PointCloud<PointXYZRGBA>::Ptr filteredCloud(new PointCloud<PointXYZRGBA>); 
    boost::shared_ptr<visualization::CloudViewer> viewer;     // Point cloud viewer object. 
    Grabber* openniGrabber;            // OpenNI grabber that takes data from the device. 
    unsigned int filesSaved = 0;           // For the numbering of the clouds saved to disk. 
    bool saveCloud(false), noColor(false);        // Program control. 

    void 
    printUsage(const char* programName) 
    { 
     cout << "Usage: " << programName << " [options]" 
      << endl 
      << endl 
      << "Options:\n" 
      << endl 
      << "\t<none>  start capturing from an OpenNI device.\n" 
      << "\t-v FILE visualize the given .pcd file.\n" 
      << "\t-h   shows this help.\n"; 
    } 

    // This function is called every time the device has new data. 
    void 
    grabberCallback(const PointCloud<PointXYZRGBA>::ConstPtr& cloud) 
    { 
     if (!viewer->wasStopped()) 
      viewer->showCloud(cloud); 

     if (saveCloud) 
     { 
      stringstream stream; 
      stream << "inputCloud" << filesSaved << ".pcd"; 
      string filename = stream.str(); 

      // Filter object. 
      PassThrough<pcl::PointXYZRGBA> filter; 
      filter.setInputCloud(cloud); 
      // Filter out all points with Z values not in the [0-2] range. 
      filter.setFilterFieldName("z"); 
      filter.setFilterLimits(0.0, 1.5); 

      filter.filter(*filteredCloud); 

      if (io::savePCDFile(filename, *filteredCloud, true) == 0) 
      { 
       filesSaved++; 
       cout << "Saved " << filename << "." << endl; 
      } 
      else PCL_ERROR("Problem saving %s.\n", filename.c_str()); 

      saveCloud = false; 
     } 
    } 

    // For detecting when SPACE is pressed. 
    void 
    keyboardEventOccurred(const visualization::KeyboardEvent& event, 
    void* nothing) 
    { 
     if (event.getKeySym() == "space" && event.keyDown()) 
      saveCloud = true; 
    } 

    // Creates, initializes and returns a new viewer. 
    boost::shared_ptr<visualization::CloudViewer> 
    createViewer() 
    { 
     boost::shared_ptr<visualization::CloudViewer> v 
      (new visualization::CloudViewer("OpenNI viewer")); 
     v->registerKeyboardCallback(keyboardEventOccurred); 

     return (v); 
    } 

    int 
    main(int argc, char** argv) 
    { 
     if (console::find_argument(argc, argv, "-h") >= 0) 
     { 
      printUsage(argv[0]); 
      return -1; 
     } 

     bool justVisualize(false); 
     string filename; 
     if (console::find_argument(argc, argv, "-v") >= 0) 
     { 
      if (argc != 3) 
      { 
       printUsage(argv[0]); 
       return -1; 
      } 

      filename = argv[2]; 
      justVisualize = true; 
     } 
     else if (argc != 1) 
     { 
      printUsage(argv[0]); 
      return -1; 
     } 

     // First mode, open and show a cloud from disk. 
     if (justVisualize) 
     { 
      // Try with color information... 
      try 
      { 
       io::loadPCDFile<PointXYZRGBA>(filename.c_str(), *cloudptr); 
      } 
      catch (PCLException e1) 
      { 
       try 
       { 
        // ...and if it fails, fall back to just depth. 
        io::loadPCDFile<PointXYZ>(filename.c_str(), *fallbackCloud); 
       } 
       catch (PCLException e2) 
       { 
        return -1; 
       } 

       noColor = true; 
      } 

      cout << "Loaded " << filename << "." << endl; 
      if (noColor) 
       cout << "This cloud has no RGBA color information present." << endl; 
      else cout << "This cloud has RGBA color information present." << endl; 
     } 
     // Second mode, start fetching and displaying frames from the device. 
     else 
     { 
      openniGrabber = new pcl::io::OpenNI2Grabber(); 
      if (openniGrabber == 0) 
       return -1; 
      boost::function<void(const PointCloud<PointXYZRGBA>::ConstPtr&)> f = 
       boost::bind(&grabberCallback, _1); 
      openniGrabber->registerCallback(f); 
     } 

     viewer = createViewer(); 

     if (justVisualize) 
     { 
      if (noColor) 
       viewer->showCloud(fallbackCloud); 
      else viewer->showCloud(cloudptr); 
     } 
     else openniGrabber->start(); 

     // Main loop. 
     while (!viewer->wasStopped()) 
      boost::this_thread::sleep(boost::posix_time::seconds(1)); 

     if (!justVisualize) 
      openniGrabber->stop(); 
    } 

Но с этим кодом мне нужен зритель. Как я могу получить Point Cloud без зрителя? Он должен работать без kinect SDK, только с PCL, openni.

Answer 1

Я решил проблему так:

#include <pcl/io/openni2_grabber.h> 
    #include <pcl/io/pcd_io.h> 
    #include <pcl/console/parse.h> 
    #include <iostream> 

    using namespace std; 
    using namespace pcl; 

    int main(int argc, char** argv) 
    { 
     PointCloud<PointXYZRGBA>::Ptr sourceCloud(new PointCloud<PointXYZRGBA>); 

     boost::function<void(const PointCloud<PointXYZRGBA>::ConstPtr&)> function = [&sourceCloud](const PointCloud<PointXYZRGBA>::ConstPtr &cloud) 
     { 
      copyPointCloud(*cloud, *sourceCloud); 
     }; 

     // Create Kinect2Grabber 
     Grabber* grabber = new io::OpenNI2Grabber(); 
     // Regist Callback Function 
     grabber->registerCallback(function); 
     // Start Retrieve Data 
     grabber->start(); 
     boost::this_thread::sleep(boost::posix_time::seconds(1)); 
     // Stop Retrieve Data 
     grabber->stop(); 
     cout << "The Cloud size: " << sourceCloud->size() << " points ..." << endl; 
    }