ubuntu OpenCV读取KinectV2数据

#include <iostream>
#include <stdio.h>
#include <iomanip>
#include <time.h>
#include <signal.h>
#include <opencv2/opencv.hpp>

#include <libfreenect2/libfreenect2.hpp>
#include <libfreenect2/frame_listener_impl.h>
#include <libfreenect2/registration.h>
#include <libfreenect2/packet_pipeline.h>
#include <libfreenect2/logger.h>
//! [headers]

using namespace std;
using namespace cv;

const int cl = 0;
const int gl = 1;
const int cpu = 2;

bool protonect_shutdown = false; // Whether the running application should shut down.

void sigint_handler(int s)
{
protonect_shutdown = true;
}

int main()
{
//! [context]
libfreenect2::Freenect2 freenect2;
libfreenect2::Freenect2Device *dev = NULL;
libfreenect2::PacketPipeline *pipeline = NULL;
//! [context]

//! [discovery]
if(freenect2.enumerateDevices() == 0)
{
std::cout << "no device connected!" << std::endl;
return -1;
}

string serial = freenect2.getDefaultDeviceSerialNumber();

std::cout << "SERIAL: " << serial << std::endl;
//! [discovery]

int depthProcessor = cl;

if(depthProcessor == cpu)
{
if(!pipeline)
//! [pipeline]
pipeline = new libfreenect2::CpuPacketPipeline();
//! [pipeline]
} else if (depthProcessor == gl) {
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
if(!pipeline)
pipeline = new libfreenect2::OpenGLPacketPipeline();
#else
std::cout << "OpenGL pipeline is not supported!" << std::endl;
#endif
} else if (depthProcessor == cl) {
#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
if(!pipeline)
pipeline = new libfreenect2::OpenCLPacketPipeline();
#else
std::cout << "OpenCL pipeline is not supported!" << std::endl;
#endif
}

if(pipeline)
{
//! [open]
dev = freenect2.openDevice(serial, pipeline);
//! [open]
} else {
dev = freenect2.openDevice(serial);
}

if(dev == 0)
{
std::cout << "failure opening device!" << std::endl;
return -1;
}

signal(SIGINT, sigint_handler);
protonect_shutdown = false;

//! [listeners]
libfreenect2::SyncMultiFrameListener listener(libfreenect2::Frame::Color |
libfreenect2::Frame::Depth |
libfreenect2::Frame::Ir);
libfreenect2::FrameMap frames;

dev->setColorFrameListener(&listener);
dev->setIrAndDepthFrameListener(&listener);
//! [listeners]

//! [start]
dev->start();

std::cout << "device serial: " << dev->getSerialNumber() << std::endl;
std::cout << "device firmware: " << dev->getFirmwareVersion() << std::endl;
//! [start]

//! [registration setup]
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); // check here (https://github.com/OpenKinect/libfreenect2/issues/337) and here (https://github.com/OpenKinect/libfreenect2/issues/464) why depth2rgb image should be bigger
//! [registration setup]

Mat rgbmat, depthmat, depthmatUndistorted, irmat, rgbd, rgbd2;

//! [loop start]
while(!protonect_shutdown)
{
listener.waitForNewFrame(frames);
libfreenect2::Frame *rgb = frames[libfreenect2::Frame::Color];
libfreenect2::Frame *ir = frames[libfreenect2::Frame::Ir];
libfreenect2::Frame *depth = frames[libfreenect2::Frame::Depth];
//! [loop start]

cv::Mat(rgb->height, rgb->width, CV_8UC4, rgb->data).copyTo(rgbmat);
cv::Mat(ir->height, ir->width, CV_32FC1, ir->data).copyTo(irmat);
cv::Mat(depth->height, depth->width, CV_32FC1, depth->data).copyTo(depthmat);

cv::imshow("rgb", rgbmat);
cv::imshow("ir", irmat / 4500.0f);
cv::imshow("depth", depthmat / 4500.0f);

//! [registration]
registration->apply(rgb, depth, &undistorted, ®istered, true, &depth2rgb);
//! [registration]

cv::Mat(undistorted.height, undistorted.width, CV_32FC1, undistorted.data).copyTo(depthmatUndistorted);
cv::Mat(registered.height, registered.width, CV_8UC4, registered.data).copyTo(rgbd);
cv::Mat(depth2rgb.height, depth2rgb.width, CV_32FC1, depth2rgb.data).copyTo(rgbd2);

cv::imshow("undistorted", depthmatUndistorted / 4500.0f);
cv::imshow("registered", rgbd);
cv::imshow("depth2RGB", rgbd2 / 4500.0f);

int key = cv::waitKey(1);
protonect_shutdown = protonect_shutdown || (key > 0 && ((key & 0xFF) == 27));

//! [loop end]
listener.release(frames);
}
//! [loop end]

//! [stop]
dev->stop();
dev->close();
//! [stop]

delete registration;
return 0;
}