用librealsense的matlab接口来对其深度图和彩色图

用librealsense的matlab接口来对其深度图和彩色图

其实文档看懂了还是相当简单，奈何本人对matlab还是相当不熟悉，于是浪费了一些时间，在这里简单的做个记录，align.m是align在matlab里的封装，可以看到它的构造函数需要一个stream对象，而stream.m里介绍了stream这个对象，里边有几个枚举值，于是我们就可以知道如何使用align函数了

这里通过修改 librealsense 里的depth_example.m来举例

    % Make Pipeline object to manage streaming
    pipe = realsense.pipeline();
    
    % Start streaming on an arbitrary camera with default settings
    profile = pipe.start();

    % Get frames. We discard the first couple to allow
    % the camera time to settle
    for i = 1:5
        fs = pipe.wait_for_frames();
    end
    
    % Stop streaming
    pipe.stop();
	
	% Align
	to_depth  = realsense.stream(1) 
	align = realsense.align(to_depth)
	a_fs = align.process(fs)
	
    % Select depth frame
    depth = a_fs.get_depth_frame();
    color = a_fs.get_color_frame();
    
    % Get actual data and convert into a format imshow can use
    % (Color data arrives as [R, G, B, R, G, B, ...] vector)
    depth_data = depth.get_data();
    color_data = color.get_data();
    
    depth_img = permute(reshape(depth_data,[1,depth.get_width(),depth.get_height()]),[3,2,1]);
    color_img = permute(reshape(color_data,[3,color.get_width(),color.get_height()]),[3,2,1]);

    % Display image
    %imshow(color_img);