知微传感Dkam系列3D相机PCL应用篇：PCL读入3D相机数据

PCL读入Dkam系列3D相机数据写在前面PCL(Point Cloud Library):是一个开源的算法库用C编写是当前点云处理的得力工具在使用PCL处理3D相机输出的点云中可能遇到问题因此编写此文章未尽问题欢迎与我深入交流Liu_Gump_PCL在线读入Dkam系列3D相机数据本例程基于WIN10VisualStudio2019DkamSDK_1.6.72PCL1.12.0,采用C语言;PCL配置方法另请查阅.#include iostream #includecstring //DkamSDK #includedkam_discovery.h #includedkam_gige_camera.h #includedkam_gige_stream.h //PCL #include pcl/io/pcd_io.h #include pcl/point_types.h int main() { std::cout Hello Zhisensor! std::endl; std::cout 微信liu_zhisensor std::endl; std::vectorDiscoveryInfo discovery_info; Discovery discovery; GigeCamera camera; GigeStream* pointgigestream NULL; std::vectorDiscoveryInfo().swap(discovery_info); //****************************************查找局域网内相机******************************************** int k -1; //查找相机 int camer_num discovery.DiscoverCamera(discovery_info); std::cout 局域网内相机数量为 camer_num std::endl; //对局域网内的相机进行排序0IP 1:相机序列号 int camer_sort discovery.CameraSort(discovery_info, 1); std::cout camer_sort camer_sort std::endl; //显示局域网内相机的IP for (int i 0; i camer_num; i) { std::cout IP为: discovery.ConvertIpIntToString(discovery_info[i].camera_ip) std::endl; if (strcmp((discovery.ConvertIpIntToString(discovery_info[i].camera_ip)), 192.168.30.108) 0) { k i; } } //****************************************连接局域网内指定的相机****************************************** //连接相机相机的IP与上面的IP相同若想获取相机IP可以先通过知微传感提供的DkamViewer软件查询 int connect camera.CameraConnect(discovery_info[k]); //如果connect为0则表示连接成功如果其他值则表示失败请查看连接状态或者相机状态灯 std::cout connect connect std::endl; //****************************************获取相机采集到的数据******************************************** if (connect 0) { //获取当前红外相机的宽和高 int width -1; int height -1; int height_gray camera.GetCameraHeight(height, 0); int width_gray camera.GetCameraWidth(width, 0); std::cout 相机灰度图的宽: width std::endl; std::cout 相机灰度图的宽: height std::endl; //定义点云数据大小 PhotoInfo* point_data new PhotoInfo; point_data-pixel new char[width * height * 6]; memset(point_data-pixel, 0, width * height * 6); //设置触发模式 0 连拍模式 1 触发模式 int tirggerMode camera.SetTriggerMode(1); std::cout tirggerMode: tirggerMode std::endl; //开始点云的数据流通道(1:点云 0红外 2:RGB) int stream_point camera.StreamOn(1, pointgigestream); std::cout stream_point stream_point std::endl; //开始接收数据 int acquistion camera.AcquisitionStart(); std::cout acquistion acquistion std::endl; //刷新点云数据流通道缓冲区的数据 pointgigestream-FlushBuffer(); //相机固件版本号 std::cout camera 1 version camera.CameraVerion(discovery_info[k]) std::endl; //设置触发模式下触发帧数 int triggerCount camera.SetTriggerCount(); std::cout triggerCount: triggerCount std::endl; //采集点云数据 int capturePoint -1; capturePoint pointgigestream-TimeoutCapture(point_data, 3000000); std::cout capture_Pointimage: capturePoint std::endl; //***************************将相机数据转化为PCL中可读的点云文件****************************** float *float_cloud (float*)malloc(width * height * 3 * sizeof(float)); memset((void *)float_cloud,0,width * height * 3 * sizeof(float)); camera.Convert3DPointFromCharToFloat(*point_data, float_cloud); pcl::PointCloudpcl::PointXYZ::Ptr PointCloud_PCL(new pcl::PointCloudpcl::PointXYZ); PointCloud_PCL-width width; PointCloud_PCL-height height; PointCloud_PCL-points.resize(PointCloud_PCL-width * PointCloud_PCL-height); for (size_t i 0; i PointCloud_PCL-points.size(); i) { PointCloud_PCL-points[i].x float_cloud[3 * i 0]; PointCloud_PCL-points[i].y float_cloud[3 * i 1]; PointCloud_PCL-points[i].z float_cloud[3 * i 2]; } //保存点云 pcl::io::savePCDFile(D:/Zhisensor/Works/3DCode/Dkam_PCL_Con/Outputtestface.pcd, *PointCloud_PCL); //***************************释放内存关闭通道断开相机****************************** memset(point_data-pixel, 0, width * height * 6); //释放内存 delete[] point_data-pixel; delete point_data; //关闭点云数据流通道 int streamoff_point camera.StreamOff(1, pointgigestream); std::cout streamoff_point streamoff_point std::endl; //断开相机 int disconnect camera.CameraDisconnect(); std::cout disconnect disconnect std::endl; } return 0; }将保存点云用cloudcompare打开保存的如图实际场景