一. 环境介绍

1.Visual Studio 2019

2.PCL、Boost

3.悉灵相机MV-EB435i，SDK版本Mv3dRgbd_V1.0.0_Win

具体环境配置：

二. 解析点云数据及存储

由于相机通过USB接入，在设备类型选择DeviceType_USB：

ASSERT_OK(MV3D_RGBD_GetDeviceList(DeviceType_USB, &devs[0], nDevNum, &nDevNum));

参考SDK中给出的结构体参数，可以得到图像的详细信息：

在相机图像MV3D_RGBD_IMAGE_DATA数据中，有图像宽、图像高、相机输出的图像数据、图像数据长度(字节)、帧号、设备上报的时间戳等信息，通过图像高、宽、图像数据长度可以计算图像点数，以供后续使用。为了得到图像数据，对pData指针进行解析，得到图像数据。

由于相机不输出点云数据，采用深度图数据转换成点云数据：

nRet = MV3D_RGBD_MapDepthToPointCloud(handle, &stFrameData.stImageData[i], &stPointCloudImage);

采用PCL的点云结构存储解析得到的相机点云数据，并对明显的无效数据进行过滤：

调用PCL存文件接口，将点云文件存储成pcd格式：

pcl::io::savePCDFileASCII(to_string(num)+".pcd", pointCloud);

三. 代码

main.cpp:

#include <iostream>
#include <fstream>
#include <algorithm>
#include <stdio.h>
#include "../common/common.hpp"
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>

using namespace std;

int main()
{
    ASSERT_OK(MV3D_RGBD_Initialize());

    unsigned int nDevNum = 0;
    ASSERT_OK(MV3D_RGBD_GetDeviceNumber(DeviceType_USB, &nDevNum));
    LOGD("MV3D_RGBD_GetDeviceNumber success! nDevNum:%d.", nDevNum);
    ASSERT(nDevNum);


    // 查找设备
    std::vector<MV3D_RGBD_DEVICE_INFO> devs(nDevNum);
    ASSERT_OK(MV3D_RGBD_GetDeviceList(DeviceType_USB, &devs[0], nDevNum, &nDevNum));
    for (unsigned int i = 0; i < nDevNum; i++)
    {
        LOG("Index[%d]. SerialNum[%s] IP[%s] name[%s].\r\n", i, devs[i].chSerialNumber, devs[i].SpecialInfo.stNetInfo.chCurrentIp, devs[i].chModelName);
    }

    //打开设备
    void* handle = NULL;
    unsigned int nIndex = 0;
    ASSERT_OK(MV3D_RGBD_OpenDevice(&handle, &devs[nIndex]));
    LOGD("OpenDevice success.");

    // 开始工作流程
    ASSERT_OK(MV3D_RGBD_Start(handle));
    LOGD("Start work success.");

    int num = 0;
    bool exit_flag = TRUE;

    MV3D_RGBD_FRAME_DATA stFrameData = { 0 };
    while (exit_flag)
    {
        pcl::PointCloud<pcl::PointXYZ> pointCloud;

        // 获取图像数据
        int nRet = MV3D_RGBD_FetchFrame(handle, &stFrameData, 5000);
        //获取图像帧
        if (MV3D_RGBD_OK == nRet)
        {
            //图像帧很多类型，当类型为深度时将其转换为点云
            for (int i = 0; i < stFrameData.nImageCount; i++)
            {
                //若是深度格式则开始转换
                if (ImageType_Depth == stFrameData.stImageData[i].enImageType)
                {
                    MV3D_RGBD_IMAGE_DATA stPointCloudImage;
                    //将当前帧转换为点云
                    nRet = MV3D_RGBD_MapDepthToPointCloud(handle, &stFrameData.stImageData[i], &stPointCloudImage);
                    //pPtr 指向 点云存储起始地址
                    float* pPtr = (float*)stPointCloudImage.pData;
                    int nPointNum = stPointCloudImage.nDataLen / (sizeof(float) * 3);

                    //从第一个点云开始向文件流中写入 xyz 坐标
                    LOGD("Start write Points of %d framenum!", stPointCloudImage.nFrameNum);
                    for (int nPntIndex = 0; nPntIndex < nPointNum; ++nPntIndex)
                    {
                        if (pPtr[nPntIndex * 3 + 0] > 6000 || pPtr[nPntIndex * 3 + 1] > 6000 || pPtr[nPntIndex * 3 + 2] > 6000)continue;
                        if (pPtr[nPntIndex * 3 + 0] != 0 || pPtr[nPntIndex * 3 + 1] != 0 || pPtr[nPntIndex * 3 + 2] != 0) {
                            pcl::PointXYZ point;
                            point.x = pPtr[nPntIndex * 3 + 0];
                            point.y = pPtr[nPntIndex * 3 + 1];
                            point.z = pPtr[nPntIndex * 3 + 2];
                            pointCloud.points.push_back(point);
                        }
                    }
                    pointCloud.width = pointCloud.points.size();
                    pointCloud.height = 1;

                    pcl::io::savePCDFileASCII(to_string(num)+".pcd", pointCloud);

                    LOGD("_MapDepthToPointCloud() Run Succeed: framenum (%d) height(%d) width(%d)  len (%d)!", stPointCloudImage.nFrameNum,
                        stPointCloudImage.nHeight, stPointCloudImage.nWidth, stPointCloudImage.nDataLen);
                }
                //若获取图像帧失败则退出
                if (MV3D_RGBD_OK != nRet)
                {
                    break;
                }
            }
        }
        //按键退出
        if (_kbhit())
        {
            exit_flag = FALSE;
        }
        num++;
    }

    ASSERT_OK(MV3D_RGBD_Stop(handle));
    ASSERT_OK(MV3D_RGBD_CloseDevice(&handle));
    ASSERT_OK(MV3D_RGBD_Release());

    LOGD("Main done!");

    return 0;
}

CMakeLists.txt:

cmake_minimum_required(VERSION 3.9)

set(CMAKE_CXX_STANDARD 11)

project(storepointscloud)

set(BOOST_ROOT "C:/PCL 1.12.1/3rdParty/Boost")

find_package(Boost REQUIRED
             COMPONENTS system filesystem thread)
find_package(PCL 1.3 REQUIRED)

set(SOURCE_FILES main.cpp)

include_directories(Include/)
include_directories(common/include)

include_directories(
    ${PCL_INCLUDE_DIRS}
    ${Boost_INCLUDE_DIRS}
    )

link_directories(Lib/Win64)
link_directories(common/lib/Win64)
link_directories(
    ${PCL_LIBRARY_DIRS}
    ${BOOST_LIBRARY_DIRS}
    )

add_definitions(
    ${PCL_DEFINITIONS}
    )
add_compile_definitions(NOMINMAX)

add_executable(storepointscloud ${SOURCE_FILES})

target_link_libraries(storepointscloud 
    ${PCL_LIBRARIES}
    ${Boost_LIBRARIES}
    )

target_link_libraries(storepointscloud Mv3dRgbd glfw3 opengl32 glu32)

四. 运行结果

可以看到在可执行文件目录下已经生成pcd格式的点云文件：