利用libfreenect2获取Kinect 2 彩色和深度图像以及相机参数

#include <iostream>
#include <string>
#include <sstream>
#include <opencv2/opencv.hpp>
#include <sys/time.h>
#include <unistd.h>
#include <fstream>

#include <libfreenect2/libfreenect2.hpp>
#include <libfreenect2/frame_listener_impl.h>
#include <libfreenect2/registration.h>
#include <libfreenect2/packet_pipeline.h>
#include <libfreenect2/config.h>

using namespace std;
using namespace cv;

libfreenect2::Freenect2 freenect2;
libfreenect2::Freenect2Device *device = nullptr;   //传感器设备
libfreenect2::PacketPipeline *pipeline = nullptr;  //数据传输方式
libfreenect2::SyncMultiFrameListener* listeners ; //同步多窗口监听器
libfreenect2::Registration *reg;

enum Processors { _CPU = 1, _CUDA, _OpenGL} ;
Processors processor = _CPU;

enum ImgTypes{ _rgb=1,_depth,_undistort} ;

struct IntrinsicMatrix
{
    float fx;
    float fy;
    float cx;
    float cy;
} ColorIntrinsic, DepthIntrinsic;

struct Distortion
{
    float k1;
    float k2;
    float p1;
    float p2;
    float k3;
} distortion;

struct timeval tv;

bool shutdown = false;
/**
  *@param :
  **   processor: the processor which you want to use as packet pipeline
  *@Description:initial and open the device of kinect,and set the Processor
  * to traismit the data from kinect.
*/
bool InitSensor(const Processors processor)
{
    ///scan the sensor
    if(freenect2.enumerateDevices() == 0)
    {
        throw " [Info] [Initial Erro]: No device connected.";