ubuntu14.04利用opencv‘获取realsense图像

CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)

project(RealsenseExamples)

include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
    message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

find_package(OpenCV REQUIRED)  
find_package(OpenGL REQUIRED)
set(DEPENDENCIES realsense ${OPENGL_LIBRARIES})

if(WIN32)
    add_subdirectory(third_party/glfw)
    list(APPEND DEPENDENCIES glfw3)
else()
    # Find glfw header
    find_path(GLFW_INCLUDE_DIR NAMES GLFW/glfw3.h
        PATHS /usr/X11R6/include
              /usr/include/X11
              /opt/graphics/OpenGL/include
              /opt/graphics/OpenGL/contrib/libglfw
              /usr/local/include
              /usr/include/GL
              /usr/include
    )
    # Find glfw library
    find_library(GLFW_LIBRARIES NAMES glfw glfw3
            PATHS /usr/lib64
                  /usr/lib
                  /usr/lib/${CMAKE_LIBRARY_ARCHITECTURE}
                  /usr/local/lib64
                  /usr/local/lib
                  /usr/local/lib/${CMAKE_LIBRARY_ARCHITECTURE}
                  /usr/X11R6/lib
    )
    list(APPEND DEPENDENCIES m ${GLFW_LIBRARIES} ${LIBUSB1_LIBRARIES})
    include_directories(${GLFW_INCLUDE_DIR})
endif()



add_executable(realsense_example realsense_example.cpp)
target_link_libraries(realsense_example ${DEPENDENCIES})
target_link_libraries( realsense_example ${OpenCV_LIBS} )  

主程序：

#include 
#include "example.hpp"
#include 
#include 

#include 
#include 
#include 
#include 

using namespace cv;
using namespace std;

struct rgb_pixel
{
    uint8_t r,g,b;
};

int main()
{
    rs::log_to_console(rs::log_severity::warn);
    rs::context ctx;
    if(ctx.get_device_count() == 0) throw std::runtime_error("No device detected. Is it plugged in?");
    rs::device & dev = *ctx.get_device(0);
    dev.enable_stream(rs::stream::color, 640, 480, rs::format::rgb8, 60);
    dev.enable_stream(rs::stream::depth, 640, 480, rs::format::z16, 60);
    dev.enable_stream(rs::stream::infrared, 640, 480, rs::format::y8, 60);
    dev.start();

    while(1)
        {
            dev.wait_for_frames();
            uchar* pRgb = (uchar*)dev.get_frame_data(rs::stream::color);
            uint16_t *depthImage = (uint16_t *) dev.get_frame_data(rs::stream::depth);
            Mat rgb_show;
            Mat rgb(480, 640, CV_8UC3, pRgb);
            cvtColor(rgb, rgb_show, CV_BGR2RGB);
            imshow("RGBImage",rgb_show);
            Mat depth(480,640,CV_16UC1, depthImage);
            imshow("Depthimage",depth*15);
            uchar* pFra = (uchar*)dev.get_frame_data(rs::stream::infrared);
            Mat fra_img(480, 640, CV_8UC1, pFra);
            imshow("FraImage",fra_img); waitKey(10);
        }
}

其中CMakeLists是根據例子中的改的，所以需要把example.hpp和第三方頭文件文件夾都要拷過來。