realsense SDK2.0学习1——读取D435视频【彩色&&深度】
读取D435图片
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：
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#include
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#include
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#include
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#include
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using
namespace
std;
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#include
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#include
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#include
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using
namespace
cv;
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#include
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int main()
try
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{
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//声明彩色图
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rs2::colorizer color_map;
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//声明realsense管道，
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rs2::pipeline pipe;
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//数据流配置信息【这步其实很重要】
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rs2::config pipe_config;
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pipe_config.enable_stream(RS2_STREAM_DEPTH,
640,
480,RS2_FORMAT_Z16,
30);
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pipe_config.enable_stream(RS2_STREAM_COLOR,
640,
480,RS2_FORMAT_BGR8,
30);
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//开始传送数据流
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rs2::pipeline_profile profile=pipe.start(pipe_config);
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const char* depth_win=
"depth_Image";
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namedWindow(depth_win,WINDOW_AUTOSIZE);
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const char* color_win=
"color_Image";
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namedWindow(color_win,WINDOW_AUTOSIZE);
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// //获取深度像素与长度单位的关系
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// float depth_scale = get_depth_scale(profile.get_device());
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// rs2_stream align_to = find_stream_to_align(profile.get_streams());
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while(waitKey(
1)&&cvGetWindowHandle(depth_win)){
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rs2::frameset data=pipe.wait_for_frames();
//等待下一帧
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rs2::frame depth=data.get_depth_frame().apply_filter(color_map);
//获取深度图，加颜色滤镜
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rs2::frame color=data.get_color_frame();
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//获取宽高
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const int depth_w=depth.
as
().get_width();
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const int depth_h=depth.
as
().get_height();
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const int color_w=color.
as
().get_width();
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const int color_h=color.
as
().get_height();
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//创建OPENCV类型 并传入数据
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Mat depth_image(Size(depth_w,depth_h),CV_8UC3,(void*)depth.get_data(),Mat::AUTO_STEP);
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Mat color_image(Size(color_w,color_h),CV_8UC3,(void*)color.get_data(),Mat::AUTO_STEP);
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//显示
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imshow(depth_win,depth_image);
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imshow(color_win,color_image);
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}
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return EXIT_SUCCESS;
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}
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catch (
const rs2::error &e){
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std::cout<<
"RealSense error calling"<
"("<"):\n"
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<
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return EXIT_FAILURE;
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}
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catch (
const std::exception &e){
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std::cout<
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return EXIT_FAILURE;
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}
CMakeLists.txt
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project(realsense_readPic)
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cmake_minimum_required(VERSION 2.8)
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aux_source_directory(. SRC_LIST)
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add_executable(
${PROJECT_NAME}
${SRC_LIST})
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set(CMAKE_CXX_FLAGS
"-std=c++11")
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#寻找opencv库
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find_package(OpenCV REQUIRED)
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#message(STATUS ${OpenCV_INCLUDE_DIRS})
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#添加头文件
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include_directories(
${OpenCV_INCLUDE_DIRS})
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#链接Opencv库
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target_link_libraries(realsense_readPic
${OpenCV_LIBS} )
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#添加后可进行调试
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set( CMAKE_BUILD_TYPE Debug )
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set(DEPENDENCIES realsense2 )
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target_link_libraries(realsense_readPic
${DEPENDENCIES})
实现效果：
