realsense SDK2.0学习：：（一）读取D435视频【彩色&&深度】

读取D435图片

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开发环境：

• ubuntu 16.04LTS
• Intel Realsense SDK2.0
• C++
• Opencv3.4
• CMake

 网上关于Inetl Reaslsense SDK2.0的教程甚少，这里边学习边做系列教程

这个没什么原理好讲，直接上代码以及注释：

#include 
#include
#include
#include
using namespace std;
#include
#include
#include
using namespace cv;

#include

int main() try
{
    //声明彩色图
    rs2::colorizer color_map;

    //声明realsense管道，
    rs2::pipeline pipe;
    //数据流配置信息【这步其实很重要】
    rs2::config pipe_config;
    pipe_config.enable_stream(RS2_STREAM_DEPTH,640,480,RS2_FORMAT_Z16,30);
    pipe_config.enable_stream(RS2_STREAM_COLOR,640,480,RS2_FORMAT_BGR8,30);
    //开始传送数据流
    rs2::pipeline_profile profile=pipe.start(pipe_config);
    const char* depth_win="depth_Image";
    namedWindow(depth_win,WINDOW_AUTOSIZE);
    const char* color_win="color_Image";
    namedWindow(color_win,WINDOW_AUTOSIZE);

//    //获取深度像素与长度单位的关系
//    float depth_scale = get_depth_scale(profile.get_device());
//    rs2_stream align_to = find_stream_to_align(profile.get_streams());

    while(waitKey(1)&&cvGetWindowHandle(depth_win)){
        rs2::frameset data=pipe.wait_for_frames();//等待下一帧

        rs2::frame depth=data.get_depth_frame().apply_filter(color_map);//获取深度图，加颜色滤镜
        rs2::frame color=data.get_color_frame();

        //获取宽高
        const int depth_w=depth.as().get_width();
        const int depth_h=depth.as().get_height();
        const int color_w=color.as().get_width();
        const int color_h=color.as().get_height();

        //创建OPENCV类型 并传入数据
        Mat depth_image(Size(depth_w,depth_h),CV_8UC3,(void*)depth.get_data(),Mat::AUTO_STEP);
        Mat color_image(Size(color_w,color_h),CV_8UC3,(void*)color.get_data(),Mat::AUTO_STEP);
        //显示
        imshow(depth_win,depth_image);
        imshow(color_win,color_image);
    }
    return EXIT_SUCCESS;
}
catch (const rs2::error &e){
    std::cout<<"RealSense error calling"<

CMakeLists.txt

project(realsense_readPic)
cmake_minimum_required(VERSION 2.8)
aux_source_directory(. SRC_LIST)
add_executable(${PROJECT_NAME} ${SRC_LIST})
set(CMAKE_CXX_FLAGS "-std=c++11")
#寻找opencv库
find_package(OpenCV REQUIRED)
#message(STATUS ${OpenCV_INCLUDE_DIRS})
#添加头文件
include_directories(${OpenCV_INCLUDE_DIRS})
#链接Opencv库
target_link_libraries(realsense_readPic ${OpenCV_LIBS} )
#添加后可进行调试
set( CMAKE_BUILD_TYPE Debug )
set(DEPENDENCIES realsense2 )
target_link_libraries(realsense_readPic ${DEPENDENCIES})

实现效果：