参考台湾Heresy大神的程序:
#include <XnCppWrapper.h>#include <iostream>#include <iomanip>#include <vector>using namespace xn; using namespace std; //point cloud data structstruct SColorPoint3D{float X;float Y;float Z;float R;float G;float B;SColorPoint3D( XnPoint3D pos, XnRGB24Pixel color ){X = pos.X;Y = pos.Y;Z = pos.Z;R = (float)color.nRed / 255;G = (float)color.nGreen / 255;B = (float)color.nBlue / 255;}};void GeneratePointCloud( DepthGenerator& rDepthGen,const XnDepthPixel* pDepth,const XnRGB24Pixel* pImage,vector<SColorPoint3D>& vPointCloud ){// number of point is the number of 2D image pixelDepthMetaData mDepthMD;rDepthGen.GetMetaData( mDepthMD );unsigned int uPointNum = mDepthMD.FullXRes() * mDepthMD.FullYRes();// build the data structure for convertXnPoint3D* pDepthPointSet = new XnPoint3D[ uPointNum ];unsigned int i, j, idxShift, idx;for( j = 0; j < mDepthMD.FullYRes(); ++j ){idxShift = j * mDepthMD.FullXRes();for( i = 0; i < mDepthMD.FullXRes(); ++i ){idx = idxShift + i;pDepthPointSet[idx].X = i;pDepthPointSet[idx].Y = j;pDepthPointSet[idx].Z = pDepth[idx];}}// un-project points to real worldXnPoint3D* p3DPointSet = new XnPoint3D[ uPointNum ];rDepthGen.ConvertProjectiveToRealWorld( uPointNum, pDepthPointSet, p3DPointSet );delete[] pDepthPointSet;// build point cloudfor( i = 0; i < uPointNum; ++ i ){// skip the depth 0 pointsif( p3DPointSet[i].Z == 0 )continue;vPointCloud.push_back( SColorPoint3D( p3DPointSet[i], pImage[i] ) );}delete[] p3DPointSet;} int main(void){XnStatus eResult = XN_STATUS_OK;int i = 0;// initContext mContext;eResult = mContext.Init();DepthGenerator mDepthGenerator;eResult = mDepthGenerator.Create(mContext);ImageGenerator mImageGenerator;eResult = mImageGenerator.Create(mContext);// set output modeXnMapOutputMode mapMode;mapMode.nXRes = XN_VGA_X_RES;mapMode.nYRes = XN_VGA_Y_RES;mapMode.nFPS = 30;eResult = mDepthGenerator.SetMapOutputMode(mapMode);eResult = mImageGenerator.SetMapOutputMode(mapMode);// start generatingeResult = mContext.StartGeneratingAll();// read datavector<SColorPoint3D> vPointCloud;while ( !xnOSWasKeyboardHit() ){eResult = mContext.WaitNoneUpdateAll();// get the depth mapconst XnDepthPixel* pDepthMap = mDepthGenerator.GetDepthMap();// get the image mapconst XnRGB24Pixel* pImageMap = mImageGenerator.GetRGB24ImageMap();// generate point cloudvPointCloud.clear();GeneratePointCloud(mDepthGenerator, pDepthMap, pImageMap, vPointCloud );// print point cloudcout.flags(ios::left); //Left-alignedcout << "Point number: " << vPointCloud.size() << endl;for(i=0;i<vPointCloud.size();i++){cout << setw(10) << i;cout << "X:" << setw(10) << vPointCloud[i].X;cout << "Y:" << setw(10) << vPointCloud[i].Y;cout << "Z:" << setw(10) << vPointCloud[i].Z;cout << "R:" << setw(10) << vPointCloud[i].R;cout << "G:" << setw(10) << vPointCloud[i].G;cout << "B:" << setw(10) << vPointCloud[i].B <<endl;}}//stopmContext.StopGeneratingAll();mContext.Shutdown();return 0;}
更新版：
#include <XnCppWrapper.h>#include <iostream>#include <iomanip>#include <vector>#include <unistd.h>#include <GL/glut.h>#include <math.h>using namespace xn; using namespace std; /* 点云数据格式 */struct point_xyz{float X;float Y;float Z;float R;float G;float B;point_xyz(XnPoint3D pos, XnRGB24Pixel color){X = pos.X;Y = pos.Y;Z = pos.Z;R = (float)color.nRed / 255;G = (float)color.nGreen / 255;B = (float)color.nBlue / 255;}};/* 点云类 */class point_cloud{private:Context&context;DepthGenerator&depth_generator;ImageGenerator&image_generator;XnStatusresult_val;XnMapOutputMode map_mode;public:vector<point_xyz> cloud_vector;//存放一帧图像中的所有点云数据/* 构造函数\析构函数 */point_cloud(Context &contex, DepthGenerator &depthGenerator, ImageGenerator &imageGenerator): context(contex), depth_generator(depthGenerator),image_generator(imageGenerator), result_val(XN_STATUS_OK) {}~point_cloud() { stop(); }/* 输出模式设置 */inline const XnMapOutputMode get_default_output_mode();void set_output_mode(const XnMapOutputMode &outputMode);/* 点云数据处理*/voidinit();voidstop();voidupdata();inline void clear();inline void print();inline int size();/* 错误输出 */inline void printError();};inline const XnMapOutputMode point_cloud::get_default_output_mode() {XnMapOutputMode outputMode = {XN_VGA_X_RES, XN_VGA_Y_RES, 30};return outputMode; } void point_cloud::set_output_mode(const XnMapOutputMode &outputMode){map_mode.nFPS = outputMode.nFPS;map_mode.nXRes = outputMode.nXRes;map_mode.nYRes = outputMode.nYRes; }void point_cloud::init(){result_val = context.Init();printError();/* 从文件中获取数据 */result_val = context.OpenFileRecording("tempRec.oni");printError();result_val = context.FindExistingNode(XN_NODE_TYPE_DEPTH, depth_generator);printError();result_val = context.FindExistingNode(XN_NODE_TYPE_IMAGE, image_generator);printError();/* 从设备中获取数据 *//*result_val = depth_generator.Create(context);printError();result_val = image_generator.Create(context);printError();// set output moderesult_val = depth_generator.SetMapOutputMode(map_mode);printError();result_val = image_generator.SetMapOutputMode(map_mode);printError(); *//* 开始生成数据 */result_val = context.StartGeneratingAll();printError();} void point_cloud::stop(){context.StopGeneratingAll();context.Shutdown(); }inline void point_cloud::print(){int i;cout.flags(ios::left); //Left-alignedcout << "Point number: " << size() << endl;for(i=0;i< size();i++){cout << "X:" << setw(10) << cloud_vector[i].X;cout << "Y:" << setw(10) << cloud_vector[i].Y;cout << "Z:" << setw(10) << cloud_vector[i].Z;cout << "R:" << setw(10) << cloud_vector[i].R;cout << "G:" << setw(10) << cloud_vector[i].G;cout << "B:" << setw(10) << cloud_vector[i].B <<endl;}}inline int point_cloud::size(){return cloud_vector.size();}inline void point_cloud::clear(){cloud_vector.clear();}inline void point_cloud::printError() {if (result_val != XN_STATUS_OK){printf("Error: %s", xnGetStatusString(result_val));exit(-1);} } void point_cloud::updata(){result_val = context.WaitNoneUpdateAll();/* 获得深度和图像数据 */const XnDepthPixel* pDepth = depth_generator.GetDepthMap();const XnRGB24Pixel* pImage = image_generator.GetRGB24ImageMap();/* 清零点云向量 */clear();/* 获得点的数量 */DepthMetaData mDepthMD;depth_generator.GetMetaData(mDepthMD);unsigned int uPointNum = mDepthMD.FullXRes() * mDepthMD.FullYRes();/* 获得原始的点云数据 */XnPoint3D* pDepthPointSet = new XnPoint3D[uPointNum];unsigned int i, j, idxShift, idx;for( j = 0; j < mDepthMD.FullYRes(); ++j ){idxShift = j * mDepthMD.FullXRes();for( i = 0; i < mDepthMD.FullXRes(); ++i ){idx = idxShift + i;pDepthPointSet[idx].X = i;pDepthPointSet[idx].Y = j;pDepthPointSet[idx].Z = pDepth[idx];}}/* 将原始数据转换成真实的3D数据 */XnPoint3D* p3DPointSet = new XnPoint3D[uPointNum];depth_generator.ConvertProjectiveToRealWorld(uPointNum, pDepthPointSet, p3DPointSet);delete[] pDepthPointSet;/* 输出点云数据 */for( i = 0; i < uPointNum; ++ i ){if( p3DPointSet[i].Z == 0 ) // 跳过深度为0的数据continue;cloud_vector.push_back( point_xyz( p3DPointSet[i], pImage[i] ) );}delete[] p3DPointSet;}
，变幻原是永恒，我们唯有用永恒的诺言制约世事的变幻。
