tof 相机的数据读取，depth data和amplitude data以及3D数据[通俗易懂]

1.开发前提

如果相机带有SDK 也就是开发需要的工具以及包，就要用相机带的开发包，里面包含了相应的读取文件的函数，以及设置的相机的相关函数。

本文使用的是TTF相机，C++头文件代码如下：

#include "../../include/TTF_API.h"

#include 



using namespace std;

using namespace Voxel;



class Depth_Camera

{



public:    

    Depth_Camera();

    ~Depth_Camera();



    TTF_API::_ttfDeviceInfo m_pDevInfo[MAX_DEVICE];



    DepthFrame          *m_pDepthFrame;

    XYZIPointCloudFrame *m_pPCLFrame;



    int ReadDepthFrame(const DepthFrame* pDepthFrame);

    int ReadPointCloudFrame(const XYZIPointCloudFrame* pXYZIPointCloudFrame);



    bool System_init();

    int Buffer_init();



    void Data_Depth();

    void Data_PCL();



    void Device_Close();

    void Device_Stop();



};

其中TTF::相关函数是相机自带的接口。

2.读取数据：

函数的实现部分，c++代码如下：

#include "Depth_Camera.h"





Depth_Camera::Depth_Camera()

{



}



Depth_Camera::~Depth_Camera()

{



}



//读取相关内容

int Depth_Camera::ReadDepthFrame(const DepthFrame* pDepthFrame)

{

    const DepthFrame *d = pDepthFrame;

    const float* data;



    data = d->depth.data();

    cout<< "depth:"<< d->id << "@" << d->timestamp << " data:" <<  data[320*120+160] << endl;





    return TTF_API::ERROR_NO;

}



int Depth_Camera::ReadPointCloudFrame(const XYZIPointCloudFrame* pXYZIPointCloudFrame)

{

    const XYZIPointCloudFrame *d = pXYZIPointCloudFrame;

    cout<< "pcl:" << d->id << "@" << d->timestamp << " data:" << d->points[320*120+160].z << endl;

    return TTF_API::ERROR_NO;

}

//函数初始化

bool Depth_Camera::System_init()

{

    int nDevCount;//device count

    int nDevOpened;





    TTF_API::ttfGetDeviceList(m_pDevInfo, nDevCount);



    if (nDevCount < 1)

    {

        std::cerr << "No Camera Found!, Please connection check and restart." "Connection Error" << std::endl;

    }

    else

    {

        nDevOpened = TTF_API::ttfDeviceOpen(m_pDevInfo[0].hnd);



        if (nDevOpened > 0)

        {



            //Callback Register //回调函数，           



TTF_API::ttfRegister_Callback_DepthFrame(std::bind(&Depth_Camera::ReadDepthFrame, this, std::placeholders::_1));

            TTF_API::ttfRegister_Callback_PointCloudFrame(std::bind(&Depth_Camera::ReadPointCloudFrame, this, std::placeholders::_1));



            std::cout << "Camera[VID:" << m_pDevInfo[0].nVendorId << ", PID:" << m_pDevInfo[0].nProductId <<

                         ", SerialNum:" << m_pDevInfo[0].szSerialNum << "] Open Success" << endl;



        }

        else

        {

            return TTF_API::ERROR_OPEN;

        }        



        Buffer_init();

    }



    Data_Depth();//start Depth

    //imshow("Binary", pDepthFrame);

    return TTF_API::ERROR_NO;

}



int Depth_Camera::Buffer_init()

{

    m_pDepthFrame   = (DepthFrame*)malloc(sizeof(DepthFrame));;

    m_pPCLFrame     = (XYZIPointCloudFrame*)malloc(sizeof(XYZIPointCloudFrame));



    if(m_pDepthFrame == NULL || m_pPCLFrame == NULL)

    {

        cout << "Failed to create nescecary buffers to display the image" << endl;

        return TTF_API::ERROR_FAIL;

    }

    else

        return TTF_API::ERROR_NO;

}





void Depth_Camera::Data_Depth()

{

    TTF_API::ttfClearCallback(m_pDevInfo[0].hnd, TTF_API::FrameType::FRAME_XYZI_POINT_CLOUD_FRAME);

    TTF_API::ttfDeviceStart(m_pDevInfo[0].hnd, TTF_API::FrameType::FRAME_DEPTH_FRAME);

}



void Depth_Camera::Data_PCL()

{

    TTF_API::ttfClearCallback(m_pDevInfo[0].hnd, TTF_API::FrameType::FRAME_DEPTH_FRAME);

    TTF_API::ttfDeviceStart(m_pDevInfo[0].hnd, TTF_API::FrameType::FRAME_XYZI_POINT_CLOUD_FRAME);

}



void Depth_Camera::Device_Close()

{

    TTF_API::ttfDeviceStop(m_pDevInfo[0].hnd);

    TTF_API::ttfDeviceClose(m_pDevInfo[0].hnd);

}



void Depth_Camera::Device_Stop()

{

    TTF_API::ttfDeviceStop(m_pDevInfo[0].hnd);

}

3.主函数的实现：

主函数未使用线程，只是比较简单的数据的读取代码如下，

#include "Depth_Camera.h"



int main()

{ 

    Depth_Camera *depth_camera = new Depth_Camera;



    int nRet;

    nRet = depth_camera->System_init();

    if(nRet < 1)

    {

        cout << "init Error :" << nRet << endl;

        exit(0);

    }



    char getkey;

    while(1)

    {

        getkey = getchar();



        //Reading end Process

        if(getkey == 'q')

        {

            depth_camera->Device_Close();

            break;

        }        

        else if(getkey == '2')//Depth

        {

            depth_camera->Data_Depth();

        }

        else if(getkey == '3')//PCL

        {

            depth_camera->Data_PCL();

        }

        else if(getkey == 's')

        {

            depth_camera->Device_Stop();

        }





    }



    if(depth_camera != NULL)

    {

        delete depth_camera;

        depth_camera = NULL;

    }



    return 0;

}

4.今天只写数据的简单读取，下次完成深度数据以及3D数据的显示。

tof 相机的数据读取，depth data和amplitude data以及3D数据[通俗易懂]

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