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写在前面：生成点云前提是已经安装好了libfreenect2和PCL，网上有许多这方面的大把教程，在这里就不多赘述了。
-->ubuntu16.04，pcl1.8<--
0，工件的点云展示
1，实现步骤
-
先通过libfreenect2提供的
getPointXYZRGB函数，得到图像中每个像素点的空间坐标xyz以及rgb值。
运用点云库PCL中点云可视化功能，将获取到的每个点的xyz和rgb显示出来。
点云显示关键代码：
1，
pcl::visualization::CloudViewer viewer ("Viewer");//创建一个显示点云的窗口，命名为Viewer。
2，PointCloud::Ptr cloud ( new PointCloud );//使用智能指针，创建一个空点云。这种指针用完会自动释放。
这个空点云必须创建在while循环里面，否则最后显示出来的画面会无限叠加在窗口上，会变得很卡，之前写在了外面，找了好久才找到原来是这里写错了！
2，PointT p;//定义一个用于储存坐标信息的点
3，cloud->points.push_back( p );//将点P存入cloud
4，viewer.showCloud (cloud);//将cloud可视化
注意：将下列两个文件复制到同一个文件夹中，并在终端中依次执行cmake .，make,便会生成一个可执行文件main，输入./main，就可以显示点云，如果是一片漆黑，是因为我在代码中设置来点云的范围，将if语句去掉即可。
2，main.cpp
#include <iostream>
#include <stdio.h>
#include <iomanip>
#include <time.h>
#include <signal.h>
#include <opencv2/opencv.hpp>
#include <math.h>#include <libfreenect2/libfreenect2.hpp>
#include <libfreenect2/frame_listener_impl.h>
#include <libfreenect2/registration.h>
#include <libfreenect2/packet_pipeline.h>
#include <libfreenect2/logger.h>#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/point_cloud.h>using namespace std;
using namespace cv;typedef pcl::PointXYZRGBA PointT;
typedef pcl::PointCloud<PointT> PointCloud;enum
{Processor_cl,Processor_gl,Processor_cpu
};bool protonect_shutdown = false; // Whether the running application should shut down.void sigint_handler(int s)
{protonect_shutdown = true;
}int main()
{//定义变量std::cout << "start!" << std::endl;libfreenect2::Freenect2 freenect2;libfreenect2::Freenect2Device *dev = 0;libfreenect2::PacketPipeline *pipeline = 0;//搜寻并初始化传感器if(freenect2.enumerateDevices() == 0){std::cout << "no device connected!" << std::endl;return -1;}string serial = freenect2.getDefaultDeviceSerialNumber();std::cout << "SERIAL: " << serial << std::endl;//配置传输格式
#if 1 // seanint depthProcessor = Processor_cl;if(depthProcessor == Processor_cpu){if(!pipeline)//! [pipeline]pipeline = new libfreenect2::CpuPacketPipeline();//! [pipeline]}else if (depthProcessor == Processor_gl) // if support gl{
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORTif(!pipeline){pipeline = new libfreenect2::OpenGLPacketPipeline();}
#elsestd::cout << "OpenGL pipeline is not supported!" << std::endl;
#endif}else if (depthProcessor == Processor_cl) // if support cl{
#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORTif(!pipeline)pipeline = new libfreenect2::OpenCLPacketPipeline();
#elsestd::cout << "OpenCL pipeline is not supported!" << std::endl;
#endif}//启动设备if(pipeline){dev = freenect2.openDevice(serial, pipeline);}else{dev = freenect2.openDevice(serial);}if(dev == 0){std::cout << "failure opening device!" << std::endl;return -1;}signal(SIGINT, sigint_handler);protonect_shutdown = false;libfreenect2::SyncMultiFrameListener listener(libfreenect2::Frame::Color |libfreenect2::Frame::Depth |libfreenect2::Frame::Ir);libfreenect2::FrameMap frames;dev->setColorFrameListener(&listener);dev->setIrAndDepthFrameListener(&listener);//启动数据传输dev->start();std::cout << "device serial: " << dev->getSerialNumber() << std::endl;std::cout << "device firmware: " << dev->getFirmwareVersion() << std::endl;//循环接收libfreenect2::Registration* registration = new libfreenect2::Registration(dev->getIrCameraParams(), dev->getColorCameraParams());libfreenect2::Frame undistorted(512, 424, 4), registered(512, 424, 4), depth2rgb(1920, 1080 + 2, 4);Mat rgbmat, depthmat, rgbd, dst;float x, y, z, color;pcl::visualization::CloudViewer viewer ("Viewer"); //创建一个显示点云的窗口while(!protonect_shutdown){listener.waitForNewFrame(frames);libfreenect2::Frame *rgb = frames[libfreenect2::Frame::Color];libfreenect2::Frame *depth = frames[libfreenect2::Frame::Depth];registration->apply(rgb, depth, &undistorted, ®istered, true, &depth2rgb);PointCloud::Ptr cloud ( new PointCloud ); //使用智能指针，创建一个空点云。这种指针用完会自动释放。for (int m = 0; m < 512 ; m++){for (int n = 0 ; n < 424 ; n++){PointT p;registration->getPointXYZRGB(&undistorted, ®istered, n, m, x, y, z, color);const uint8_t *c = reinterpret_cast<uint8_t*>(&color);uint8_t b = c[0];uint8_t g = c[1];uint8_t r = c[2];if (z<1.2 && y<0.2) //暂时先通过限定xyz来除去不需要的点，点云分割还在学习中。。。{p.z = -z;p.x = x;p.y = -y;p.b = b;p.g = g;p.r = r;}cloud->points.push_back( p );}}viewer.showCloud (cloud);int key = cv::waitKey(1);protonect_shutdown = protonect_shutdown || (key > 0 && ((key & 0xFF) == 27)); // shutdown on escapelistener.release(frames);}dev->stop();dev->close();delete registration;#endifstd::cout << "stop!" << std::endl;return 0;
}
3，CMakeLists.txt
cmake_minimum_required(VERSION 2.8)project( main )
set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} $ENV{HOME}/freenect2/lib/cmake/freenect2)
find_package( OpenCV REQUIRED )
FIND_PACKAGE( PkgConfig REQUIRED )
FIND_PACKAGE( freenect2 REQUIRED )
find_package(PCL 1.2 REQUIRED)include_directories("/usr/include/libusb-1.0/")
include_directories(${OpenCV_INCLUDE_DIRS})include_directories( ${freenect2_INCLUDE_DIRS} )include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")add_executable( main main.cpp )
target_link_libraries( main ${freenect2_LIBRARIES} ${OpenCV_LIBS} ${PCL_LIBRARIES} )