Intel Realsense SDK2.0學習：：（一）讀取D435視頻【彩色&&深度】

讀取D435圖片

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開發環境：

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

 網上關於Inetl Reaslsense SDK2.0的教程甚少，這裏邊學習邊做系列教程

這個沒什麼原理好講，直接上代碼以及註釋：

#include <iostream>
#include<stdlib.h>
#include<stdio.h>
#include<string>
using namespace std;
#include<opencv2/imgproc/imgproc.hpp>
#include<opencv2/core/core.hpp>
#include<opencv2/highgui/highgui.hpp>
using namespace cv;

#include<librealsense2/rs.hpp>

int main() try
{
    //聲明彩色圖
    rs2::colorizer color_map;

    //聲明realsense管道，
    rs2::pipeline pipe;
    //數據流配置信息【這步其實很重要】
    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);
    //開始傳送數據流
    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);

//    //獲取深度像素與長度單位的關係
//    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();//等待下一幀

        rs2::frame depth=data.get_depth_frame().apply_filter(color_map);//獲取深度圖，加顏色濾鏡
        rs2::frame color=data.get_color_frame();

        //獲取寬高
        const int depth_w=depth.as<rs2::video_frame>().get_width();
        const int depth_h=depth.as<rs2::video_frame>().get_height();
        const int color_w=color.as<rs2::video_frame>().get_width();
        const int color_h=color.as<rs2::video_frame>().get_height();

        //創建OPENCV類型 並傳入數據
        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);
        //顯示
        imshow(depth_win,depth_image);
        imshow(color_win,color_image);
    }
    return EXIT_SUCCESS;
}
catch (const rs2::error &e){
    std::cout<<"RealSense error calling"<<e.get_failed_function()<<"("<<e.get_failed_args()<<"):\n"
            <<e.what()<<endl;
    return EXIT_FAILURE;
}
catch (const std::exception &e){
    std::cout<<e.what()<<endl;
    return EXIT_FAILURE;
}

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")
#尋找opencv庫
find_package(OpenCV REQUIRED)
#message(STATUS ${OpenCV_INCLUDE_DIRS})
#添加頭文件
include_directories(${OpenCV_INCLUDE_DIRS})
#鏈接Opencv庫
target_link_libraries(realsense_readPic ${OpenCV_LIBS} )
#添加後可進行調試
set( CMAKE_BUILD_TYPE Debug )
set(DEPENDENCIES realsense2 )
target_link_libraries(realsense_readPic ${DEPENDENCIES})

實現效果：