Ubuntu-Realsense开发（一）
1.获取数据流
// include the librealsense C++ header file
#include // include OpenCV header file
#include using namespace std;
using namespace cv;int main()
{//Contruct a pipeline which abstracts the devicers2::pipeline pipe;rs2::colorizer color_map;//Create a configuration for configuring the pipeline with a non default profilers2::config cfg;//Add desired streams to configurationcfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8, 30);//cfg.enable_stream(RS2_STREAM_INFRARED, 640, 480, RS2_FORMAT_Y8, 30);cfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);//Instruct pipeline to start streaming with the requested configurationpipe.start(cfg);
// const auto color_win = "color Image";
// namedWindow(color_win, WINDOW_AUTOSIZE);
// const auto depth_win = "depth Image";
// namedWindow(depth_win, WINDOW_AUTOSIZE);while (1){//Wait for all configured streams to produce a framers2::frameset frames = pipe.wait_for_frames();//Get each framers2::frame color_frame = frames.get_color_frame();//rs2::frame ir_frame = frames.first(RS2_STREAM_INFRARED);rs2::frame depth_frame1 = frames.get_depth_frame().apply_filter(color_map);rs2::frame depth_frame2= frames.get_depth_frame();// Creating OpenCV Matrix from a color imageMat color(Size(640, 480), CV_8UC3, (void*)color_frame.get_data(), Mat::AUTO_STEP);//Mat ir(Size(640, 480), CV_8UC1, (void*)ir_frame.get_data(), Mat::AUTO_STEP);Mat depth1(Size(640, 480), CV_8UC3, (void*)depth_frame1.get_data(), Mat::AUTO_STEP);Mat depth2(Size(640, 480), CV_16UC1, (void*)depth_frame2.get_data(), Mat::AUTO_STEP);// Apply Histogram Equalization// equalizeHist(ir, ir);//applyColorMap(ir, ir, COLORMAP_JET);// Display in a GUIimshow("depth Image", depth1);imshow("depth Image2", depth2);//imshow("Display ir", ir);imshow("color Image",color );waitKey(10);}return 0;
}
CMakeLists.txt
cmake_minimum_required(VERSION 3.10)
project(rs_test)
set(CMAKE_CXX_STANDARD 11)
#set(CMAKE_CXX_FLAGS "-std=c++11")#aux_source_directory(. main.cpp)
add_executable(rs_test main.cpp)#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(rs_test ${OpenCV_LIBS} )
#添加后可进行调试
set( CMAKE_BUILD_TYPE Debug )
set(DEPENDENCIES realsense2 )
target_link_libraries(rs_test ${DEPENDENCIES})2.深度对齐到彩色
// include the librealsense C++ header file
#include // include OpenCV header file
#include using namespace std;
using namespace cv;float get_depth_scale(rs2::device dev);
bool profile_changed(const std::vector& current, const std::vector& prev);int main()
{//Contruct a pipeline which abstracts the devicers2::pipeline pipe;rs2::colorizer color_map;//Create a configuration for configuring the pipeline with a non default profilers2::config cfg;//Add desired streams to configurationcfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8, 30);//cfg.enable_stream(RS2_STREAM_INFRARED, 640, 480, RS2_FORMAT_Y8, 30);cfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);//Instruct pipeline to start streaming with the requested configuration// pipe.start(cfg);
// const auto color_win = "color Image";
// namedWindow(color_win, WINDOW_AUTOSIZE);
// const auto depth_win = "depth Image";
// namedWindow(depth_win, WINDOW_AUTOSIZE);rs2::pipeline_profile profile = pipe.start(cfg);float depth_scale = get_depth_scale(profile.get_device());rs2_stream align_to = RS2_STREAM_COLOR;rs2::align align(align_to);float depth_clipping_distance = 1.f;while (1){//Wait for all configured streams to produce a framers2::frameset frames = pipe.wait_for_frames();if (profile_changed(pipe.get_active_profile().get_streams(), profile.get_streams())){//If the profile was changed, update the align object, and also get the new device's depth scale//如果profile发生改变，则更新align对象，重新获取深度图像像素到长度单位的转换比例profile = pipe.get_active_profile();align = rs2::align(align_to);depth_scale = get_depth_scale(profile.get_device());}//Get processed aligned frame//获取对齐后的帧auto processed = align.process(frames);// Trying to get both other and aligned depth frames//尝试获取对齐后的深度图像帧和其他帧rs2::frame aligned_color_frame = processed.get_color_frame();//processed.first(align_to);
// rs2::frame aligned_depth_frame = processed.get_depth_frame().apply_filter(color_map);;
// rs2::frame depth_frame=frames.get_depth_frame().apply_filter(color_map);rs2::frame aligned_depth_frame = processed.get_depth_frame();rs2::frame depth_frame=frames.get_depth_frame();// Creating OpenCV Matrix from a color imageMat color(Size(640, 480), CV_8UC3, (void*)aligned_color_frame.get_data(), Mat::AUTO_STEP);//Mat ir(Size(640, 480), CV_8UC1, (void*)ir_frame.get_data(), Mat::AUTO_STEP);
// Mat aligned_depth(Size(640, 480), CV_8UC3, (void*)aligned_depth_frame.get_data(), Mat::AUTO_STEP);
// Mat depth(Size(640, 480), CV_8UC3, (void*)depth_frame.get_data(), Mat::AUTO_STEP);Mat aligned_depth(Size(640, 480), CV_16UC1, (void*)aligned_depth_frame.get_data(), Mat::AUTO_STEP);Mat depth(Size(640, 480), CV_16UC1, (void*)depth_frame.get_data(), Mat::AUTO_STEP);// Display in a GUIimshow("depth", depth);imshow("aligned_depth", aligned_depth);//imshow("Display ir", ir);imshow("color",color );waitKey(100);}return 0;
}float get_depth_scale(rs2::device dev)
{// Go over the device's sensorsfor (rs2::sensor& sensor : dev.query_sensors()){// Check if the sensor if a depth sensorif (rs2::depth_sensor dpt = sensor.as()){return dpt.get_depth_scale();}}throw std::runtime_error("Device does not have a depth sensor");
}bool profile_changed(const std::vector& current, const std::vector& prev)
{for (auto&& sp : prev){//If previous profile is in current (maybe just added another)auto itr = std::find_if(std::begin(current), std::end(current), [&sp](const rs2::stream_profile& current_sp) { return sp.unique_id() == current_sp.unique_id(); });if (itr == std::end(current)) //If it previous stream wasn't found in current{return true;}}return false;
} 参考自：
https://blog.csdn.net/dieju8330/article/details/85272919
https://github.com/IntelRealSense/librealsense/blob/master/examples/align-advanced/rs-align-advanced.cpp
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