├── .gitignore ├── AxFeatureExtract ├── AxFeatureExtract.sln └── AxFeatureExtract │ ├── AxFeatureExtract.cpp │ ├── AxFeatureExtract.vcxproj │ ├── AxFeatureExtract.vcxproj.filters │ ├── ReadMe.txt │ ├── stdafx.cpp │ ├── stdafx.h │ └── targetver.h ├── AxGeneratePointCloudDemo ├── AxGeneratePointCloudDemo.sln └── AxGeneratePointCloudDemo │ ├── AxGeneratePointCloudDemo.cpp │ ├── AxGeneratePointCloudDemo.vcxproj │ ├── stdafx.cpp │ ├── stdafx.h │ └── targetver.h ├── AxOrbSLAM ├── AxOrbSLAM.sln ├── AxOrbSLAM │ ├── AxOrbSLAM.cpp │ ├── AxOrbSLAM.vcxproj │ ├── Camera_Intrinsic_Parameters.h │ ├── ReadMe.txt │ ├── TUM2.yaml │ ├── stdafx.cpp │ ├── stdafx.h │ └── targetver.h └── AxPCTransform │ ├── AxPCTransform.sln │ └── AxPCTransform │ ├── AxPCTransform.cpp │ ├── AxPCTransform.h │ ├── AxPCTransform.qrc │ ├── AxPCTransform.ui │ ├── AxPCTransform.vcxproj │ ├── AxPCTransform.vcxproj.filters │ └── main.cpp ├── AxRGBDSLAM ├── AxRGBDSLAM.sln ├── AxRGBDSLAM.v12.suo └── AxRGBDSLAM │ ├── AxPairwiseRegistration.cpp │ ├── AxPairwiseRegistration.h │ ├── AxRGBDSLAM.cpp │ ├── AxRGBDSLAM.vcxproj │ ├── Camera_Intrinsic_Parameters.h │ ├── ReadMe.txt │ ├── stdafx.cpp │ ├── stdafx.h │ └── targetver.h ├── KinectFirst ├── KinectFirst.sln └── KinectFirst │ ├── KinectFirst.cpp │ ├── KinectFirst.vcxproj │ ├── KinectFirst.vcxproj.filters │ ├── ReadMe.txt │ ├── stdafx.cpp │ ├── stdafx.h │ └── targetver.h ├── KinectFourth └── KinectFourth │ ├── KinectFourth.cpp │ ├── KinectFourth.vcxproj │ ├── ReadMe.txt │ ├── stdafx.cpp │ ├── stdafx.h │ └── targetver.h ├── KinectSecond ├── KinectSecond.sln └── KinectSecond │ ├── KinectSecond.cpp │ ├── KinectSecond.vcxproj │ ├── ReadMe.txt │ ├── stdafx.cpp │ ├── stdafx.h │ └── targetver.h ├── KinectThird ├── KinectThird.sln └── KinectThird │ ├── KinectThird.cpp │ ├── KinectThird.vcxproj │ ├── ReadMe.txt │ ├── stdafx.cpp │ ├── stdafx.h │ └── targetver.h ├── LICENSE ├── README.md ├── kinectfourth └── KinectFourth.sln └── 相机标定Matlab工具箱 ├── A Flexible New Technique for Camera Calibration.pdf ├── Brown71.pdf ├── Camera Calibration Toolbox for Matlab.mht ├── DevelopmentCameraCalibrationMethodsModels.pdf ├── Flexible Camera Calibration By Viewing a Plane From Unknown Orientations.pdf ├── Tsai.pdf ├── bakstein_data.zip ├── calib_example.zip ├── heikkila97.pdf ├── heikkila_data.zip ├── merging_example.zip ├── stereo_example.zip ├── sturm99.pdf ├── toolbox_calib.zip ├── zhan99.pdf └── zhang_data.zip /.gitignore: -------------------------------------------------------------------------------- 1 | # Compiled Object files 2 | *.slo 3 | *.lo 4 | *.o 5 | *.obj 6 | 7 | # Precompiled Headers 8 | *.gch 9 | *.pch 10 | 11 | # Compiled Dynamic libraries 12 | *.so 13 | *.dylib 14 | *.dll 15 | 16 | # Fortran module files 17 | *.mod 18 | *.smod 19 | 20 | # Compiled Static libraries 21 | *.lai 22 | *.la 23 | *.a 24 | *.lib 25 | 26 | # Executables 27 | *.exe 28 | *.out 29 | *.app 30 | 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/AxFeatureExtract/AxFeatureExtract/AxFeatureExtract.vcxproj: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 | Debug 6 | Win32 7 | 8 | 9 | Debug 10 | x64 11 | 12 | 13 | Release 14 | Win32 15 | 16 | 17 | Release 18 | x64 19 | 20 | 21 | 22 | {D051AFC1-C6B9-4185-91C3-5960E852DAD7} 23 | Win32Proj 24 | AxFeatureExtract 25 | 26 | 27 | 28 | Application 29 | true 30 | Unicode 31 | 32 | 33 | Application 34 | true 35 | Unicode 36 | 37 | 38 | Application 39 | false 40 | true 41 | Unicode 42 | 43 | 44 | Application 45 | false 46 | true 47 | Unicode 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | true 67 | 68 | 69 | true 70 | 71 | 72 | false 73 | 74 | 75 | false 76 | 77 | 78 | 79 | Use 80 | Level3 81 | Disabled 82 | WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions) 83 | D:\Program Files\opencv2.4.10\build\include;D:\Program Files\opencv2.4.10\build\include\opencv;D:\Program 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opencv_calib3d2410d.lib;opencv_contrib2410d.lib;opencv_core2410d.lib;opencv_features2d2410d.lib;opencv_flann2410d.lib;opencv_highgui2410d.lib;opencv_imgproc2410d.lib;opencv_nonfree2410d.lib;%(AdditionalDependencies) 105 | 106 | 107 | 108 | 109 | Level3 110 | Use 111 | MaxSpeed 112 | true 113 | true 114 | WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions) 115 | 116 | 117 | Console 118 | true 119 | true 120 | true 121 | 122 | 123 | 124 | 125 | Level3 126 | Use 127 | MaxSpeed 128 | true 129 | true 130 | WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions) 131 | 132 | 133 | Console 134 | true 135 | true 136 | true 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | Create 150 | Create 151 | Create 152 | Create 153 | 154 | 155 | 156 | 157 | 158 | -------------------------------------------------------------------------------- /AxFeatureExtract/AxFeatureExtract/AxFeatureExtract.vcxproj.filters: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 | {4FC737F1-C7A5-4376-A066-2A32D752A2FF} 6 | cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx 7 | 8 | 9 | {93995380-89BD-4b04-88EB-625FBE52EBFB} 10 | h;hpp;hxx;hm;inl;inc;xsd 11 | 12 | 13 | {67DA6AB6-F800-4c08-8B7A-83BB121AAD01} 14 | rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 头文件 23 | 24 | 25 | 头文件 26 | 27 | 28 | 29 | 30 | 源文件 31 | 32 | 33 | 源文件 34 | 35 | 36 | -------------------------------------------------------------------------------- /AxFeatureExtract/AxFeatureExtract/ReadMe.txt: -------------------------------------------------------------------------------- 1 | ======================================================================== 2 | 控制台应用程序：AxFeatureExtract 项目概述 3 | ======================================================================== 4 | 5 | 应用程序向导已为您创建了此 AxFeatureExtract 应用程序。 6 | 7 | 本文件概要介绍组成 AxFeatureExtract 应用程序的每个文件的内容。 8 | 9 | 10 | AxFeatureExtract.vcxproj 11 | 这是使用应用程序向导生成的 VC++ 项目的主项目文件， 12 | 其中包含生成该文件的 Visual C++ 13 | 的版本信息，以及有关使用应用程序向导选择的平台、配置和项目功能的信息。 14 | 15 | AxFeatureExtract.vcxproj.filters 16 | 这是使用“应用程序向导”生成的 VC++ 项目筛选器文件。 17 | 它包含有关项目文件与筛选器之间的关联信息。 在 IDE 18 | 中，通过这种关联，在特定节点下以分组形式显示具有相似扩展名的文件。 19 | 例如，“.cpp”文件与“源文件”筛选器关联。 20 | 21 | AxFeatureExtract.cpp 22 | 这是主应用程序源文件。 23 | 24 | ///////////////////////////////////////////////////////////////////////////// 25 | 其他标准文件： 26 | 27 | StdAfx.h，StdAfx.cpp 28 | 这些文件用于生成名为 AxFeatureExtract.pch 的预编译头 (PCH) 文件和 29 | 名为 StdAfx.obj 的预编译类型文件。 30 | 31 | ///////////////////////////////////////////////////////////////////////////// 32 | 其他注释： 33 | 34 | 应用程序向导使用“TODO:”注释来指示应添加或自定义的源代码部分。 35 | 36 | ///////////////////////////////////////////////////////////////////////////// 37 | -------------------------------------------------------------------------------- /AxFeatureExtract/AxFeatureExtract/stdafx.cpp: 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Files\OpenNI2\lib\OpenNI2.lib;..\Thirdparty\Pangolin\build\external\libpng\lib\libpng16_static.lib;..\Thirdparty\Pangolin\build\external\zlib\lib\zlibstatic.lib;..\Thirdparty\Pangolin\build\external\libjpeg\lib\jpeg.lib;DBoW2.lib;g2o.lib;pangolin.lib;%(AdditionalDependencies) 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | Create 163 | Create 164 | Create 165 | Create 166 | 167 | 168 | 169 | 170 | 171 | -------------------------------------------------------------------------------- /AxOrbSLAM/AxOrbSLAM/Camera_Intrinsic_Parameters.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yhexie/AxKinect2/6f195de623e3a2b6b87167c9ab2f862f7a6c6c6f/AxOrbSLAM/AxOrbSLAM/Camera_Intrinsic_Parameters.h -------------------------------------------------------------------------------- /AxOrbSLAM/AxOrbSLAM/ReadMe.txt: -------------------------------------------------------------------------------- 1 | ======================================================================== 2 | 控制台应用程序：KinectFirst 项目概述 3 | ======================================================================== 4 | 5 | 应用程序向导已为您创建了此 KinectFirst 应用程序。 6 | 7 | 本文件概要介绍组成 KinectFirst 应用程序的每个文件的内容。 8 | 9 | 10 | KinectFirst.vcxproj 11 | 这是使用应用程序向导生成的 VC++ 项目的主项目文件，其中包含生成该文件的 Visual C++ 的版本信息，以及有关使用应用程序向导选择的平台、配置和项目功能的信息。 12 | 13 | KinectFirst.vcxproj.filters 14 | 这是使用“应用程序向导”生成的 VC++ 项目筛选器文件。它包含有关项目文件与筛选器之间的关联信息。在 IDE 中，通过这种关联，在特定节点下以分组形式显示具有相似扩展名的文件。例如，“.cpp”文件与“源文件”筛选器关联。 15 | 16 | KinectFirst.cpp 17 | 这是主应用程序源文件。 18 | 19 | ///////////////////////////////////////////////////////////////////////////// 20 | 其他标准文件: 21 | 22 | StdAfx.h, StdAfx.cpp 23 | 这些文件用于生成名为 KinectFirst.pch 的预编译头 (PCH) 文件和名为 StdAfx.obj 的预编译类型文件。 24 | 25 | ///////////////////////////////////////////////////////////////////////////// 26 | 其他注释: 27 | 28 | 应用程序向导使用“TODO:”注释来指示应添加或自定义的源代码部分。 29 | 30 | ///////////////////////////////////////////////////////////////////////////// 31 | -------------------------------------------------------------------------------- /AxOrbSLAM/AxOrbSLAM/TUM2.yaml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | 3 | #-------------------------------------------------------------------------------------------- 4 | # Camera Parameters. Adjust them! 5 | #-------------------------------------------------------------------------------------------- 6 | 7 | # Camera calibration and distortion parameters (OpenCV) 8 | Camera.fx: 379.40726 9 | Camera.fy: 378.54472 10 | Camera.cx: 263.73696 11 | Camera.cy: 201.72450 12 | 13 | Camera.k1: 0.03377 14 | Camera.k2: -0.04195 15 | Camera.p1: 0.00519 16 | Camera.p2: 0.00734 17 | Camera.k3: 0.0 18 | 19 | Camera.width: 512 20 | Camera.height: 424 21 | 22 | # Camera frames per second 23 | Camera.fps: 10.0 24 | 25 | # IR projector baseline times fx (aprox.) 26 | Camera.bf: 40.0 27 | 28 | # Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) 29 | Camera.RGB: 1 30 | 31 | # Close/Far threshold. Baseline times. 32 | ThDepth: 50.0 33 | 34 | # Deptmap values factor 35 | DepthMapFactor: 1000.0 36 | 37 | #-------------------------------------------------------------------------------------------- 38 | # ORB Parameters 39 | #-------------------------------------------------------------------------------------------- 40 | 41 | # ORB Extractor: Number of features per image 42 | ORBextractor.nFeatures: 1000 43 | 44 | # ORB Extractor: Scale factor between levels in the scale pyramid 45 | ORBextractor.scaleFactor: 1.2 46 | 47 | # ORB Extractor: Number of levels in the scale pyramid 48 | ORBextractor.nLevels: 8 49 | 50 | # ORB Extractor: Fast threshold 51 | # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. 52 | # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST 53 | # You can lower these values if your images have low contrast 54 | ORBextractor.iniThFAST: 20 55 | ORBextractor.minThFAST: 7 56 | 57 | #-------------------------------------------------------------------------------------------- 58 | # Viewer Parameters 59 | #-------------------------------------------------------------------------------------------- 60 | Viewer.KeyFrameSize: 0.05 61 | Viewer.KeyFrameLineWidth: 1 62 | Viewer.GraphLineWidth: 0.9 63 | Viewer.PointSize:2 64 | Viewer.CameraSize: 0.08 65 | Viewer.CameraLineWidth: 3 66 | Viewer.ViewpointX: 0 67 | Viewer.ViewpointY: -0.7 68 | Viewer.ViewpointZ: -1.8 69 | Viewer.ViewpointF: 500 70 | 71 | -------------------------------------------------------------------------------- /AxOrbSLAM/AxOrbSLAM/stdafx.cpp: -------------------------------------------------------------------------------- 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Solution File, Format Version 12.00 3 | # Visual Studio 2013 4 | VisualStudioVersion = 12.0.31101.0 5 | MinimumVisualStudioVersion = 10.0.40219.1 6 | Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "AxPCTransform", "AxPCTransform\AxPCTransform.vcxproj", "{B12702AD-ABFB-343A-A199-8E24837244A3}" 7 | EndProject 8 | Global 9 | GlobalSection(SolutionConfigurationPlatforms) = preSolution 10 | Debug|x64 = Debug|x64 11 | Release|x64 = Release|x64 12 | EndGlobalSection 13 | GlobalSection(ProjectConfigurationPlatforms) = postSolution 14 | {B12702AD-ABFB-343A-A199-8E24837244A3}.Debug|x64.ActiveCfg = Debug|x64 15 | {B12702AD-ABFB-343A-A199-8E24837244A3}.Debug|x64.Build.0 = Debug|x64 16 | {B12702AD-ABFB-343A-A199-8E24837244A3}.Release|x64.ActiveCfg = Release|x64 17 | {B12702AD-ABFB-343A-A199-8E24837244A3}.Release|x64.Build.0 = Release|x64 18 | EndGlobalSection 19 | GlobalSection(SolutionProperties) = preSolution 20 | HideSolutionNode = FALSE 21 | EndGlobalSection 22 | EndGlobal 23 | -------------------------------------------------------------------------------- /AxOrbSLAM/AxPCTransform/AxPCTransform/AxPCTransform.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yhexie/AxKinect2/6f195de623e3a2b6b87167c9ab2f862f7a6c6c6f/AxOrbSLAM/AxPCTransform/AxPCTransform/AxPCTransform.cpp -------------------------------------------------------------------------------- /AxOrbSLAM/AxPCTransform/AxPCTransform/AxPCTransform.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | #include 3 | #include 4 | #include"../g2o/g2o/types/types_six_dof_expmap.h" 5 | #include"../g2o/g2o/types/types_seven_dof_expmap.h" 6 | #include 7 | #include "ui_AxPCTransform.h" 8 | 9 | #include 10 | #include "Converter.h" 11 | 12 | using namespace std; 13 | using namespace Eigen; 14 | 15 | class AxPCTransform : public QMainWindow 16 | { 17 | Q_OBJECT 18 | 19 | public: 20 | AxPCTransform(QWidget *parent = Q_NULLPTR); 21 | 22 | void ReadPointCloud(std::string filePath, std::string fileName, Eigen::Vector3d &transform, Eigen::Quaterniond &Q_1); 23 | public: 24 | bool isrgb; 25 | 26 | private slots: 27 | void TransformPointClouds(); 28 | private: 29 | Ui::AxPCTransformClass ui; 30 | 31 | public: 32 | inline g2o::SE3Quat toSE3Quat(Eigen::Vector3d &transform, Eigen::Quaterniond &Q_1) 33 | { 34 | Eigen::Matrix R; 35 | R = Q_1.toRotationMatrix(); 36 | /*R << cvT.at(0, 0), cvT.at(0, 1), cvT.at(0, 2), 37 | cvT.at(1, 0), cvT.at(1, 1), cvT.at(1, 2), 38 | cvT.at(2, 0), cvT.at(2, 1), cvT.at(2, 2);*/ 39 | 40 | Eigen::Matrix t(transform.x(), transform.y(), transform.z()); 41 | 42 | return g2o::SE3Quat(R, t); 43 | } 44 | }; 45 | -------------------------------------------------------------------------------- /AxOrbSLAM/AxPCTransform/AxPCTransform/AxPCTransform.qrc: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /AxOrbSLAM/AxPCTransform/AxPCTransform/AxPCTransform.ui: -------------------------------------------------------------------------------- 1 | 2 | 3 | AxPCTransformClass 4 | 5 | 6 | 7 | 0 8 | 0 9 | 600 10 | 400 11 | 12 | 13 | 14 | AxPCTransform 15 | 16 | 17 | 18 | 19 | 20 | 0 21 | 0 22 | 600 23 | 30 24 | 25 | 26 | 27 | 28 | 文件 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | TopToolBarArea 37 | 38 | 39 | false 40 | 41 | 42 | 43 | 44 | 45 | 转换 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | -------------------------------------------------------------------------------- /AxOrbSLAM/AxPCTransform/AxPCTransform/AxPCTransform.vcxproj: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 | Debug 6 | x64 7 | 8 | 9 | Release 10 | x64 11 | 12 | 13 | 14 | {B12702AD-ABFB-343A-A199-8E24837244A3} 15 | Qt4VSv1.0 16 | 17 | 18 | 19 | Application 20 | v120 21 | 22 | 23 | Application 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"%(Filename)" -no-compress "%(FullPath)" -o .\GeneratedFiles\qrc_%(Filename).cpp 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | -------------------------------------------------------------------------------- /AxOrbSLAM/AxPCTransform/AxPCTransform/AxPCTransform.vcxproj.filters: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 | {4FC737F1-C7A5-4376-A066-2A32D752A2FF} 6 | cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx 7 | 8 | 9 | {93995380-89BD-4b04-88EB-625FBE52EBFB} 10 | h;hh;hpp;hxx;hm;inl;inc;xsd 11 | 12 | 13 | {D9D6E242-F8AF-46E4-B9FD-80ECBC20BA3E} 14 | qrc;* 15 | false 16 | 17 | 18 | {99349809-55BA-4b9d-BF79-8FDBB0286EB3} 19 | ui 20 | 21 | 22 | {D9D6E242-F8AF-46E4-B9FD-80ECBC20BA3E} 23 | qrc;* 24 | false 25 | 26 | 27 | {71ED8ED8-ACB9-4CE9-BBE1-E00B30144E11} 28 | moc;h;cpp 29 | False 30 | 31 | 32 | {9a2182fc-fdfb-4981-9704-2f7e7a27e26a} 33 | cpp;moc 34 | False 35 | 36 | 37 | {d60e6c3c-f224-4c97-af38-6da13f5cf901} 38 | 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-------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 | Debug 6 | Win32 7 | 8 | 9 | Debug 10 | x64 11 | 12 | 13 | Release 14 | Win32 15 | 16 | 17 | Release 18 | x64 19 | 20 | 21 | 22 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC} 23 | Win32Proj 24 | KinectFirst 25 | KinectFourth 26 | 27 | 28 | 29 | Application 30 | true 31 | v120 32 | Unicode 33 | 34 | 35 | Application 36 | true 37 | v120 38 | Unicode 39 | 40 | 41 | Application 42 | false 43 | v120 44 | true 45 | Unicode 46 | 47 | 48 | Application 49 | false 50 | v120 51 | true 52 | Unicode 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | true 72 | 73 | 74 | true 75 | 76 | 77 | false 78 | 79 | 80 | false 81 | 82 | 83 | 84 | Use 85 | Level3 86 | Disabled 87 | WIN32;_DEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions) 88 | true 89 | $(KINECTSDK20_DIR)\inc;D:\Program Files\opencv\build\include;%(AdditionalIncludeDirectories) 90 | 91 | 92 | Console 93 | true 94 | $(KINECTSDK20_DIR)\lib\x64;D:\Program Files\opencv\build\x64\vc12\lib;%(AdditionalLibraryDirectories) 95 | opencv_world310d.lib;%(AdditionalDependencies) 96 | 97 | 98 | 99 | 100 | Use 101 | Level3 102 | Disabled 103 | WIN32;_DEBUG;_CONSOLE;_CRT_SECURE_NO_WARNINGS;_LIB;%(PreprocessorDefinitions) 104 | true 105 | $(KINECTSDK20_DIR)\inc;D:\ReferenceSDK\opencv-2.4.10\sources\build\install\include;D:\Program Files\PCL\3rdParty\eigen3.2.7;%(AdditionalIncludeDirectories) 106 | 107 | 108 | Console 109 | true 110 | $(KINECTSDK20_DIR)\lib\x64;D:\ReferenceSDK\opencv-2.4.10\sources\build\lib\Debug;%(AdditionalLibraryDirectories) 111 | Kinect20.lib;opencv_core2410d.lib;opencv_features2d2410d.lib;opencv_flann2410d.lib;opencv_calib3d2410d.lib;opencv_nonfree2410d.lib;opencv_objdetect2410d.lib;opencv_highgui2410d.lib;opencv_contrib2410d.lib;%(AdditionalDependencies) 112 | 113 | 114 | 115 | 116 | Level3 117 | Use 118 | MaxSpeed 119 | true 120 | true 121 | WIN32;NDEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions) 122 | true 123 | 124 | 125 | Console 126 | true 127 | true 128 | true 129 | 130 | 131 | 132 | 133 | Level3 134 | Use 135 | MaxSpeed 136 | true 137 | true 138 | WIN32;NDEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions) 139 | true 140 | $(KINECTSDK20_DIR)\inc;D:\ReferenceSDK\opencv-2.4.10\sources\build\install\include;D:\Program Files\PCL\3rdParty\eigen3.2.7;%(AdditionalIncludeDirectories) 141 | 142 | 143 | Console 144 | true 145 | true 146 | true 147 | $(KINECTSDK20_DIR)\lib\x64;D:\ReferenceSDK\opencv-2.4.10\build\x64\vc12\lib;%(AdditionalLibraryDirectories) 148 | Kinect20.lib;opencv_core2410.lib;opencv_features2d2410.lib;opencv_flann2410.lib;opencv_calib3d2410.lib;opencv_nonfree2410.lib;opencv_objdetect2410.lib;opencv_highgui2410.lib;opencv_contrib2410.lib;%(AdditionalDependencies) 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | Create 165 | Create 166 | Create 167 | Create 168 | 169 | 170 | 171 | 172 | 173 | -------------------------------------------------------------------------------- /AxRGBDSLAM/AxRGBDSLAM/Camera_Intrinsic_Parameters.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yhexie/AxKinect2/6f195de623e3a2b6b87167c9ab2f862f7a6c6c6f/AxRGBDSLAM/AxRGBDSLAM/Camera_Intrinsic_Parameters.h -------------------------------------------------------------------------------- /AxRGBDSLAM/AxRGBDSLAM/ReadMe.txt: -------------------------------------------------------------------------------- 1 | ======================================================================== 2 | 控制台应用程序：KinectFirst 项目概述 3 | ======================================================================== 4 | 5 | 应用程序向导已为您创建了此 KinectFirst 应用程序。 6 | 7 | 本文件概要介绍组成 KinectFirst 应用程序的每个文件的内容。 8 | 9 | 10 | KinectFirst.vcxproj 11 | 这是使用应用程序向导生成的 VC++ 项目的主项目文件，其中包含生成该文件的 Visual C++ 的版本信息，以及有关使用应用程序向导选择的平台、配置和项目功能的信息。 12 | 13 | KinectFirst.vcxproj.filters 14 | 这是使用“应用程序向导”生成的 VC++ 项目筛选器文件。它包含有关项目文件与筛选器之间的关联信息。在 IDE 中，通过这种关联，在特定节点下以分组形式显示具有相似扩展名的文件。例如，“.cpp”文件与“源文件”筛选器关联。 15 | 16 | KinectFirst.cpp 17 | 这是主应用程序源文件。 18 | 19 | ///////////////////////////////////////////////////////////////////////////// 20 | 其他标准文件: 21 | 22 | StdAfx.h, StdAfx.cpp 23 | 这些文件用于生成名为 KinectFirst.pch 的预编译头 (PCH) 文件和名为 StdAfx.obj 的预编译类型文件。 24 | 25 | ///////////////////////////////////////////////////////////////////////////// 26 | 其他注释: 27 | 28 | 应用程序向导使用“TODO:”注释来指示应添加或自定义的源代码部分。 29 | 30 | ///////////////////////////////////////////////////////////////////////////// 31 | -------------------------------------------------------------------------------- /AxRGBDSLAM/AxRGBDSLAM/stdafx.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yhexie/AxKinect2/6f195de623e3a2b6b87167c9ab2f862f7a6c6c6f/AxRGBDSLAM/AxRGBDSLAM/stdafx.cpp 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10.0.40219.1 6 | Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "KinectFirst", "KinectFirst\KinectFirst.vcxproj", "{0EE5B68C-4021-407E-88AC-ED208BF0724C}" 7 | EndProject 8 | Global 9 | GlobalSection(SolutionConfigurationPlatforms) = preSolution 10 | Debug|Win32 = Debug|Win32 11 | Debug|x64 = Debug|x64 12 | Release|Win32 = Release|Win32 13 | Release|x64 = Release|x64 14 | EndGlobalSection 15 | GlobalSection(ProjectConfigurationPlatforms) = postSolution 16 | {0EE5B68C-4021-407E-88AC-ED208BF0724C}.Debug|Win32.ActiveCfg = Debug|Win32 17 | {0EE5B68C-4021-407E-88AC-ED208BF0724C}.Debug|Win32.Build.0 = Debug|Win32 18 | {0EE5B68C-4021-407E-88AC-ED208BF0724C}.Debug|x64.ActiveCfg = Debug|x64 19 | {0EE5B68C-4021-407E-88AC-ED208BF0724C}.Debug|x64.Build.0 = Debug|x64 20 | {0EE5B68C-4021-407E-88AC-ED208BF0724C}.Release|Win32.ActiveCfg = Release|Win32 21 | {0EE5B68C-4021-407E-88AC-ED208BF0724C}.Release|Win32.Build.0 = Release|Win32 22 | {0EE5B68C-4021-407E-88AC-ED208BF0724C}.Release|x64.ActiveCfg = Release|x64 23 | {0EE5B68C-4021-407E-88AC-ED208BF0724C}.Release|x64.Build.0 = Release|x64 24 | EndGlobalSection 25 | GlobalSection(SolutionProperties) = preSolution 26 | HideSolutionNode = FALSE 27 | EndGlobalSection 28 | EndGlobal 29 | -------------------------------------------------------------------------------- /KinectFirst/KinectFirst/KinectFirst.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yhexie/AxKinect2/6f195de623e3a2b6b87167c9ab2f862f7a6c6c6f/KinectFirst/KinectFirst/KinectFirst.cpp -------------------------------------------------------------------------------- /KinectFirst/KinectFirst/KinectFirst.vcxproj: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 | Debug 6 | Win32 7 | 8 | 9 | Debug 10 | x64 11 | 12 | 13 | Release 14 | Win32 15 | 16 | 17 | Release 18 | x64 19 | 20 | 21 | 22 | {0EE5B68C-4021-407E-88AC-ED208BF0724C} 23 | Win32Proj 24 | KinectFirst 25 | 26 | 27 | 28 | Application 29 | true 30 | v120 31 | Unicode 32 | 33 | 34 | Application 35 | true 36 | v120 37 | Unicode 38 | 39 | 40 | Application 41 | false 42 | v120 43 | true 44 | Unicode 45 | 46 | 47 | Application 48 | false 49 | v120 50 | true 51 | Unicode 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | true 71 | 72 | 73 | true 74 | 75 | 76 | false 77 | 78 | 79 | false 80 | 81 | 82 | 83 | Use 84 | Level3 85 | Disabled 86 | WIN32;_DEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions) 87 | true 88 | $(KINECTSDK20_DIR)\inc;D:\Program Files\opencv\build\include;%(AdditionalIncludeDirectories) 89 | 90 | 91 | Console 92 | true 93 | $(KINECTSDK20_DIR)\lib\x64;D:\Program Files\opencv\build\x64\vc12\lib;%(AdditionalLibraryDirectories) 94 | opencv_world310d.lib;%(AdditionalDependencies) 95 | 96 | 97 | 98 | 99 | Use 100 | Level3 101 | Disabled 102 | WIN32;_DEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions) 103 | true 104 | $(KINECTSDK20_DIR)\inc;D:\Program Files\opencv\build\include;%(AdditionalIncludeDirectories) 105 | 106 | 107 | Console 108 | true 109 | $(KINECTSDK20_DIR)\lib\x64;D:\Program Files\opencv\build\x64\vc12\lib;%(AdditionalLibraryDirectories) 110 | Kinect20.lib;opencv_world310d.lib;%(AdditionalDependencies) 111 | 112 | 113 | 114 | 115 | Level3 116 | Use 117 | MaxSpeed 118 | true 119 | true 120 | WIN32;NDEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions) 121 | true 122 | 123 | 124 | Console 125 | true 126 | true 127 | true 128 | 129 | 130 | 131 | 132 | Level3 133 | Use 134 | MaxSpeed 135 | true 136 | true 137 | WIN32;NDEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions) 138 | true 139 | 140 | 141 | Console 142 | true 143 | true 144 | true 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | Create 158 | Create 159 | Create 160 | Create 161 | 162 | 163 | 164 | 165 | 166 | -------------------------------------------------------------------------------- /KinectFirst/KinectFirst/KinectFirst.vcxproj.filters: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 | {4FC737F1-C7A5-4376-A066-2A32D752A2FF} 6 | cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx 7 | 8 | 9 | {93995380-89BD-4b04-88EB-625FBE52EBFB} 10 | h;hh;hpp;hxx;hm;inl;inc;xsd 11 | 12 | 13 | {67DA6AB6-F800-4c08-8B7A-83BB121AAD01} 14 | rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 头文件 23 | 24 | 25 | 头文件 26 | 27 | 28 | 29 | 30 | 源文件 31 | 32 | 33 | 源文件 34 | 35 | 36 | -------------------------------------------------------------------------------- /KinectFirst/KinectFirst/ReadMe.txt: -------------------------------------------------------------------------------- 1 | ======================================================================== 2 | 控制台应用程序：KinectFirst 项目概述 3 | ======================================================================== 4 | 5 | 应用程序向导已为您创建了此 KinectFirst 应用程序。 6 | 7 | 本文件概要介绍组成 KinectFirst 应用程序的每个文件的内容。 8 | 9 | 10 | KinectFirst.vcxproj 11 | 这是使用应用程序向导生成的 VC++ 项目的主项目文件，其中包含生成该文件的 Visual C++ 的版本信息，以及有关使用应用程序向导选择的平台、配置和项目功能的信息。 12 | 13 | KinectFirst.vcxproj.filters 14 | 这是使用“应用程序向导”生成的 VC++ 项目筛选器文件。它包含有关项目文件与筛选器之间的关联信息。在 IDE 中，通过这种关联，在特定节点下以分组形式显示具有相似扩展名的文件。例如，“.cpp”文件与“源文件”筛选器关联。 15 | 16 | KinectFirst.cpp 17 | 这是主应用程序源文件。 18 | 19 | ///////////////////////////////////////////////////////////////////////////// 20 | 其他标准文件: 21 | 22 | StdAfx.h, StdAfx.cpp 23 | 这些文件用于生成名为 KinectFirst.pch 的预编译头 (PCH) 文件和名为 StdAfx.obj 的预编译类型文件。 24 | 25 | ///////////////////////////////////////////////////////////////////////////// 26 | 其他注释: 27 | 28 | 应用程序向导使用“TODO:”注释来指示应添加或自定义的源代码部分。 29 | 30 | ///////////////////////////////////////////////////////////////////////////// 31 | -------------------------------------------------------------------------------- /KinectFirst/KinectFirst/stdafx.cpp: 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| 67 | 68 | 69 | 70 | 71 | true 72 | 73 | 74 | true 75 | 76 | 77 | false 78 | 79 | 80 | false 81 | 82 | 83 | 84 | Use 85 | Level3 86 | Disabled 87 | WIN32;_DEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions) 88 | true 89 | $(KINECTSDK20_DIR)\inc;D:\Program Files\opencv\build\include;%(AdditionalIncludeDirectories) 90 | 91 | 92 | Console 93 | true 94 | $(KINECTSDK20_DIR)\lib\x64;D:\Program Files\opencv\build\x64\vc12\lib;%(AdditionalLibraryDirectories) 95 | opencv_world310d.lib;%(AdditionalDependencies) 96 | 97 | 98 | 99 | 100 | Use 101 | Level3 102 | Disabled 103 | WIN32;_DEBUG;_CONSOLE;_CRT_SECURE_NO_WARNINGS;_LIB;%(PreprocessorDefinitions) 104 | true 105 | $(KINECTSDK20_DIR)\inc;D:\ReferenceSDK\opencv-2.4.10\sources\build\install\include;D:\Program Files\PCL\3rdParty\eigen3.2.7;%(AdditionalIncludeDirectories) 106 | 107 | 108 | Console 109 | true 110 | $(KINECTSDK20_DIR)\lib\x64;D:\ReferenceSDK\opencv-2.4.10\sources\build\lib\Debug;%(AdditionalLibraryDirectories) 111 | Kinect20.lib;opencv_core2410d.lib;opencv_features2d2410d.lib;opencv_flann2410d.lib;opencv_calib3d2410d.lib;opencv_nonfree2410d.lib;opencv_objdetect2410d.lib;opencv_highgui2410d.lib;opencv_contrib2410d.lib;%(AdditionalDependencies) 112 | 113 | 114 | 115 | 116 | Level3 117 | Use 118 | MaxSpeed 119 | true 120 | true 121 | WIN32;NDEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions) 122 | true 123 | 124 | 125 | Console 126 | true 127 | true 128 | true 129 | 130 | 131 | 132 | 133 | Level3 134 | Use 135 | MaxSpeed 136 | true 137 | true 138 | WIN32;NDEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions) 139 | true 140 | $(KINECTSDK20_DIR)\inc;D:\ReferenceSDK\opencv-2.4.10\sources\build\install\include;D:\Program Files\PCL\3rdParty\eigen3.2.7;%(AdditionalIncludeDirectories) 141 | 142 | 143 | Console 144 | true 145 | true 146 | true 147 | $(KINECTSDK20_DIR)\lib\x64;D:\ReferenceSDK\opencv-2.4.10\build\x64\vc12\lib;%(AdditionalLibraryDirectories) 148 | Kinect20.lib;opencv_core2410.lib;opencv_features2d2410.lib;opencv_flann2410.lib;opencv_calib3d2410.lib;opencv_nonfree2410.lib;opencv_objdetect2410.lib;opencv_highgui2410.lib;opencv_contrib2410.lib;%(AdditionalDependencies) 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | Create 162 | Create 163 | Create 164 | Create 165 | 166 | 167 | 168 | 169 | 170 | -------------------------------------------------------------------------------- /KinectFourth/KinectFourth/ReadMe.txt: -------------------------------------------------------------------------------- 1 | ======================================================================== 2 | 控制台应用程序：KinectFirst 项目概述 3 | ======================================================================== 4 | 5 | 应用程序向导已为您创建了此 KinectFirst 应用程序。 6 | 7 | 本文件概要介绍组成 KinectFirst 应用程序的每个文件的内容。 8 | 9 | 10 | KinectFirst.vcxproj 11 | 这是使用应用程序向导生成的 VC++ 项目的主项目文件，其中包含生成该文件的 Visual C++ 的版本信息，以及有关使用应用程序向导选择的平台、配置和项目功能的信息。 12 | 13 | KinectFirst.vcxproj.filters 14 | 这是使用“应用程序向导”生成的 VC++ 项目筛选器文件。它包含有关项目文件与筛选器之间的关联信息。在 IDE 中，通过这种关联，在特定节点下以分组形式显示具有相似扩展名的文件。例如，“.cpp”文件与“源文件”筛选器关联。 15 | 16 | KinectFirst.cpp 17 | 这是主应用程序源文件。 18 | 19 | ///////////////////////////////////////////////////////////////////////////// 20 | 其他标准文件: 21 | 22 | StdAfx.h, StdAfx.cpp 23 | 这些文件用于生成名为 KinectFirst.pch 的预编译头 (PCH) 文件和名为 StdAfx.obj 的预编译类型文件。 24 | 25 | ///////////////////////////////////////////////////////////////////////////// 26 | 其他注释: 27 | 28 | 应用程序向导使用“TODO:”注释来指示应添加或自定义的源代码部分。 29 | 30 | ///////////////////////////////////////////////////////////////////////////// 31 | -------------------------------------------------------------------------------- /KinectFourth/KinectFourth/stdafx.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yhexie/AxKinect2/6f195de623e3a2b6b87167c9ab2f862f7a6c6c6f/KinectFourth/KinectFourth/stdafx.cpp -------------------------------------------------------------------------------- /KinectFourth/KinectFourth/stdafx.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yhexie/AxKinect2/6f195de623e3a2b6b87167c9ab2f862f7a6c6c6f/KinectFourth/KinectFourth/stdafx.h -------------------------------------------------------------------------------- /KinectFourth/KinectFourth/targetver.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yhexie/AxKinect2/6f195de623e3a2b6b87167c9ab2f862f7a6c6c6f/KinectFourth/KinectFourth/targetver.h -------------------------------------------------------------------------------- /KinectSecond/KinectSecond.sln: -------------------------------------------------------------------------------- 1 |  2 | Microsoft Visual Studio Solution File, Format Version 12.00 3 | # Visual Studio 2013 4 | VisualStudioVersion = 12.0.31101.0 5 | MinimumVisualStudioVersion = 10.0.40219.1 6 | Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "KinectSecond", "KinectSecond\KinectSecond.vcxproj", "{1D42A985-EA4D-4201-8B75-1BEE7131A5CC}" 7 | EndProject 8 | Global 9 | GlobalSection(SolutionConfigurationPlatforms) = preSolution 10 | Debug|Mixed Platforms = Debug|Mixed Platforms 11 | Debug|Win32 = Debug|Win32 12 | Debug|x64 = Debug|x64 13 | Release|Mixed Platforms = Release|Mixed Platforms 14 | Release|Win32 = Release|Win32 15 | Release|x64 = Release|x64 16 | EndGlobalSection 17 | GlobalSection(ProjectConfigurationPlatforms) = postSolution 18 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Debug|Mixed Platforms.ActiveCfg = Debug|Win32 19 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Debug|Mixed Platforms.Build.0 = Debug|Win32 20 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Debug|Win32.ActiveCfg = Debug|Win32 21 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Debug|Win32.Build.0 = Debug|Win32 22 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Debug|x64.ActiveCfg = Debug|x64 23 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Debug|x64.Build.0 = Debug|x64 24 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Release|Mixed Platforms.ActiveCfg = Release|Win32 25 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Release|Mixed Platforms.Build.0 = Release|Win32 26 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Release|Win32.ActiveCfg = Release|Win32 27 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Release|Win32.Build.0 = Release|Win32 28 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Release|x64.ActiveCfg = Release|x64 29 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Release|x64.Build.0 = Release|x64 30 | EndGlobalSection 31 | GlobalSection(SolutionProperties) = preSolution 32 | HideSolutionNode = FALSE 33 | EndGlobalSection 34 | EndGlobal 35 | -------------------------------------------------------------------------------- /KinectSecond/KinectSecond/KinectSecond.cpp: -------------------------------------------------------------------------------- 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| 80 | false 81 | 82 | 83 | 84 | Use 85 | Level3 86 | Disabled 87 | WIN32;_DEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions) 88 | true 89 | $(KINECTSDK20_DIR)\inc;D:\Program Files\opencv\build\include;%(AdditionalIncludeDirectories) 90 | 91 | 92 | Console 93 | true 94 | $(KINECTSDK20_DIR)\lib\x64;D:\Program Files\opencv\build\x64\vc12\lib;%(AdditionalLibraryDirectories) 95 | opencv_world310d.lib;%(AdditionalDependencies) 96 | 97 | 98 | 99 | 100 | Use 101 | Level3 102 | Disabled 103 | WIN32;_DEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions) 104 | true 105 | $(KINECTSDK20_DIR)\inc;D:\Program Files\opencv\build\include;%(AdditionalIncludeDirectories) 106 | 107 | 108 | Console 109 | true 110 | $(KINECTSDK20_DIR)\lib\x64;D:\Program Files\opencv\build\x64\vc12\lib;%(AdditionalLibraryDirectories) 111 | Kinect20.lib;opencv_world310d.lib;%(AdditionalDependencies) 112 | 113 | 114 | 115 | 116 | Level3 117 | Use 118 | MaxSpeed 119 | true 120 | true 121 | WIN32;NDEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions) 122 | true 123 | 124 | 125 | Console 126 | true 127 | true 128 | true 129 | 130 | 131 | 132 | 133 | Level3 134 | Use 135 | MaxSpeed 136 | true 137 | true 138 | WIN32;NDEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions) 139 | true 140 | 141 | 142 | Console 143 | true 144 | true 145 | true 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | Create 159 | Create 160 | Create 161 | Create 162 | 163 | 164 | 165 | 166 | 167 | -------------------------------------------------------------------------------- /KinectSecond/KinectSecond/ReadMe.txt: -------------------------------------------------------------------------------- 1 | ======================================================================== 2 | 控制台应用程序：KinectFirst 项目概述 3 | ======================================================================== 4 | 5 | 应用程序向导已为您创建了此 KinectFirst 应用程序。 6 | 7 | 本文件概要介绍组成 KinectFirst 应用程序的每个文件的内容。 8 | 9 | 10 | KinectFirst.vcxproj 11 | 这是使用应用程序向导生成的 VC++ 项目的主项目文件，其中包含生成该文件的 Visual C++ 的版本信息，以及有关使用应用程序向导选择的平台、配置和项目功能的信息。 12 | 13 | KinectFirst.vcxproj.filters 14 | 这是使用“应用程序向导”生成的 VC++ 项目筛选器文件。它包含有关项目文件与筛选器之间的关联信息。在 IDE 中，通过这种关联，在特定节点下以分组形式显示具有相似扩展名的文件。例如，“.cpp”文件与“源文件”筛选器关联。 15 | 16 | KinectFirst.cpp 17 | 这是主应用程序源文件。 18 | 19 | ///////////////////////////////////////////////////////////////////////////// 20 | 其他标准文件: 21 | 22 | StdAfx.h, StdAfx.cpp 23 | 这些文件用于生成名为 KinectFirst.pch 的预编译头 (PCH) 文件和名为 StdAfx.obj 的预编译类型文件。 24 | 25 | ///////////////////////////////////////////////////////////////////////////// 26 | 其他注释: 27 | 28 | 应用程序向导使用“TODO:”注释来指示应添加或自定义的源代码部分。 29 | 30 | ///////////////////////////////////////////////////////////////////////////// 31 | -------------------------------------------------------------------------------- /KinectSecond/KinectSecond/stdafx.cpp: -------------------------------------------------------------------------------- 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Visual Studio Solution File, Format Version 12.00 3 | # Visual Studio 2013 4 | VisualStudioVersion = 12.0.31101.0 5 | MinimumVisualStudioVersion = 10.0.40219.1 6 | Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "KinectThird", "KinectThird\KinectThird.vcxproj", "{1D42A985-EA4D-4201-8B75-1BEE7131A5CC}" 7 | EndProject 8 | Global 9 | GlobalSection(SolutionConfigurationPlatforms) = preSolution 10 | Debug|Win32 = Debug|Win32 11 | Debug|x64 = Debug|x64 12 | Release|Win32 = Release|Win32 13 | Release|x64 = Release|x64 14 | EndGlobalSection 15 | GlobalSection(ProjectConfigurationPlatforms) = postSolution 16 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Debug|Win32.ActiveCfg = Debug|Win32 17 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Debug|Win32.Build.0 = Debug|Win32 18 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Debug|x64.ActiveCfg = Debug|x64 19 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Debug|x64.Build.0 = Debug|x64 20 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Release|Win32.ActiveCfg = Release|Win32 21 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Release|Win32.Build.0 = Release|Win32 22 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Release|x64.ActiveCfg = Release|x64 23 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Release|x64.Build.0 = Release|x64 24 | EndGlobalSection 25 | GlobalSection(SolutionProperties) = preSolution 26 | HideSolutionNode = FALSE 27 | EndGlobalSection 28 | EndGlobal 29 | -------------------------------------------------------------------------------- /KinectThird/KinectThird/KinectThird.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yhexie/AxKinect2/6f195de623e3a2b6b87167c9ab2f862f7a6c6c6f/KinectThird/KinectThird/KinectThird.cpp -------------------------------------------------------------------------------- /KinectThird/KinectThird/KinectThird.vcxproj: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 | Debug 6 | Win32 7 | 8 | 9 | Debug 10 | x64 11 | 12 | 13 | Release 14 | Win32 15 | 16 | 17 | Release 18 | x64 19 | 20 | 21 | 22 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC} 23 | Win32Proj 24 | KinectFirst 25 | KinectThird 26 | 27 | 28 | 29 | Application 30 | true 31 | v120 32 | Unicode 33 | 34 | 35 | Application 36 | true 37 | v120 38 | Unicode 39 | 40 | 41 | Application 42 | false 43 | v120 44 | true 45 | Unicode 46 | 47 | 48 | Application 49 | false 50 | v120 51 | true 52 | Unicode 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | true 72 | 73 | 74 | true 75 | 76 | 77 | false 78 | 79 | 80 | false 81 | 82 | 83 | 84 | Use 85 | Level3 86 | Disabled 87 | WIN32;_DEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions) 88 | true 89 | $(KINECTSDK20_DIR)\inc;D:\Program Files\opencv\build\include;%(AdditionalIncludeDirectories) 90 | 91 | 92 | Console 93 | true 94 | $(KINECTSDK20_DIR)\lib\x64;D:\Program Files\opencv\build\x64\vc12\lib;%(AdditionalLibraryDirectories) 95 | opencv_world310d.lib;%(AdditionalDependencies) 96 | 97 | 98 | 99 | 100 | Use 101 | Level3 102 | Disabled 103 | WIN32;_DEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions) 104 | true 105 | $(KINECTSDK20_DIR)\inc;D:\Program Files\opencv\build\include;D:\Program Files\PCL\3rdParty\eigen3.2.7;%(AdditionalIncludeDirectories) 106 | 107 | 108 | Console 109 | true 110 | $(KINECTSDK20_DIR)\lib\x64;D:\Program Files\opencv\build\x64\vc12\lib;%(AdditionalLibraryDirectories) 111 | Kinect20.lib;opencv_world310d.lib;%(AdditionalDependencies) 112 | 113 | 114 | 115 | 116 | Level3 117 | Use 118 | MaxSpeed 119 | true 120 | true 121 | WIN32;NDEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions) 122 | true 123 | 124 | 125 | Console 126 | true 127 | true 128 | true 129 | 130 | 131 | 132 | 133 | Level3 134 | Use 135 | MaxSpeed 136 | true 137 | true 138 | WIN32;NDEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions) 139 | true 140 | 141 | 142 | Console 143 | true 144 | true 145 | true 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | Create 159 | Create 160 | Create 161 | Create 162 | 163 | 164 | 165 | 166 | 167 | -------------------------------------------------------------------------------- /KinectThird/KinectThird/ReadMe.txt: -------------------------------------------------------------------------------- 1 | ======================================================================== 2 | 控制台应用程序：KinectFirst 项目概述 3 | ======================================================================== 4 | 5 | 应用程序向导已为您创建了此 KinectFirst 应用程序。 6 | 7 | 本文件概要介绍组成 KinectFirst 应用程序的每个文件的内容。 8 | 9 | 10 | KinectFirst.vcxproj 11 | 这是使用应用程序向导生成的 VC++ 项目的主项目文件，其中包含生成该文件的 Visual C++ 的版本信息，以及有关使用应用程序向导选择的平台、配置和项目功能的信息。 12 | 13 | KinectFirst.vcxproj.filters 14 | 这是使用“应用程序向导”生成的 VC++ 项目筛选器文件。它包含有关项目文件与筛选器之间的关联信息。在 IDE 中，通过这种关联，在特定节点下以分组形式显示具有相似扩展名的文件。例如，“.cpp”文件与“源文件”筛选器关联。 15 | 16 | KinectFirst.cpp 17 | 这是主应用程序源文件。 18 | 19 | ///////////////////////////////////////////////////////////////////////////// 20 | 其他标准文件: 21 | 22 | StdAfx.h, StdAfx.cpp 23 | 这些文件用于生成名为 KinectFirst.pch 的预编译头 (PCH) 文件和名为 StdAfx.obj 的预编译类型文件。 24 | 25 | ///////////////////////////////////////////////////////////////////////////// 26 | 其他注释: 27 | 28 | 应用程序向导使用“TODO:”注释来指示应添加或自定义的源代码部分。 29 | 30 | ///////////////////////////////////////////////////////////////////////////// 31 | -------------------------------------------------------------------------------- /KinectThird/KinectThird/stdafx.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yhexie/AxKinect2/6f195de623e3a2b6b87167c9ab2f862f7a6c6c6f/KinectThird/KinectThird/stdafx.cpp -------------------------------------------------------------------------------- /KinectThird/KinectThird/stdafx.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yhexie/AxKinect2/6f195de623e3a2b6b87167c9ab2f862f7a6c6c6f/KinectThird/KinectThird/stdafx.h -------------------------------------------------------------------------------- /KinectThird/KinectThird/targetver.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yhexie/AxKinect2/6f195de623e3a2b6b87167c9ab2f862f7a6c6c6f/KinectThird/KinectThird/targetver.h -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and 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It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | {one line to give the program's name and a brief idea of what it does.} 635 | Copyright (C) {year} {name of author} 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | {project} Copyright (C) {year} {fullname} 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # AxKinect2 2 | Some development on Kinect V2.0 3 | 4 | 1.KinectFirst 5 | 6 | 2.KinectSecond 利用SDK读取点云 7 | 8 | 3.KinectThird 利用标定参数构建点云 9 | 10 | 4.KinectFourth 特征提取测试 11 | 12 | 5.AxRGBDSLAM 简单的RGBDSLAM 13 | -------------------------------------------------------------------------------- /kinectfourth/KinectFourth.sln: -------------------------------------------------------------------------------- 1 |  2 | Microsoft Visual Studio Solution File, Format Version 12.00 3 | # Visual Studio 2013 4 | VisualStudioVersion = 12.0.31101.0 5 | MinimumVisualStudioVersion = 10.0.40219.1 6 | Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "KinectFourth", "KinectFourth\KinectFourth.vcxproj", "{1D42A985-EA4D-4201-8B75-1BEE7131A5CC}" 7 | EndProject 8 | Global 9 | GlobalSection(SolutionConfigurationPlatforms) = preSolution 10 | Debug|Win32 = Debug|Win32 11 | Debug|x64 = Debug|x64 12 | Release|Win32 = Release|Win32 13 | Release|x64 = Release|x64 14 | EndGlobalSection 15 | GlobalSection(ProjectConfigurationPlatforms) = postSolution 16 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Debug|Win32.ActiveCfg = Debug|Win32 17 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Debug|Win32.Build.0 = Debug|Win32 18 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Debug|x64.ActiveCfg = Debug|x64 19 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Debug|x64.Build.0 = Debug|x64 20 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Release|Win32.ActiveCfg = Release|Win32 21 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Release|Win32.Build.0 = Release|Win32 22 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Release|x64.ActiveCfg = Release|x64 23 | {1D42A985-EA4D-4201-8B75-1BEE7131A5CC}.Release|x64.Build.0 = Release|x64 24 | EndGlobalSection 25 | GlobalSection(SolutionProperties) = preSolution 26 | HideSolutionNode = FALSE 27 | EndGlobalSection 28 | EndGlobal 29 | -------------------------------------------------------------------------------- /相机标定Matlab工具箱/A Flexible New Technique for Camera Calibration.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yhexie/AxKinect2/6f195de623e3a2b6b87167c9ab2f862f7a6c6c6f/相机标定Matlab工具箱/A Flexible New Technique for Camera Calibration.pdf -------------------------------------------------------------------------------- /相机标定Matlab工具箱/Brown71.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yhexie/AxKinect2/6f195de623e3a2b6b87167c9ab2f862f7a6c6c6f/相机标定Matlab工具箱/Brown71.pdf -------------------------------------------------------------------------------- /相机标定Matlab工具箱/DevelopmentCameraCalibrationMethodsModels.pdf: -------------------------------------------------------------------------------- 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