openni_grabber.cpp
#include <pcl/io/openni_grabber.h>
#include <pcl/visualization/cloud_viewer.h>
#ifdef _WIN32
# define sleep(x) Sleep((x)*1000)
#endif
class SimpleOpenNIViewer
{
public:
SimpleOpenNIViewer () : viewer ("PCL OpenNI Viewer") {}
void cloud_cb_ (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &cloud)
{
if (!viewer.wasStopped())
viewer.showCloud (cloud);
}
void run ()
{
pcl::Grabber* interface = new pcl::OpenNIGrabber();
boost::function<void (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr&)> f =
boost::bind (&SimpleOpenNIViewer::cloud_cb_, this, _1);
interface->registerCallback (f);
interface->start ();
while (!viewer.wasStopped())
{
boost::this_thread::sleep (boost::posix_time::seconds (1));
}
interface->stop ();
}
pcl::visualization::CloudViewer viewer;
};
int main ()
{
SimpleOpenNIViewer v;
v.run ();
return 0;
}
CMakeLists.txt
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(openni_grabber)
find_package(PCL 1.2 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(openni_grabber openni_grabber.cpp)
target_link_libraries(openni_grabber ${PCL_LIBRARIES})
注意：
这里可能需要特殊设备，仅用电脑跑会有问题（个人想法）。
