RealSense 开发（一）：深度图像获取

安装与配置VS工程

新建VS工程，项目属性
C++附加目录添加：
$(RSSDK_DIR)/include;$(RSSDK_DIR)/sample/common/include;
链接器附加库目录添加：
$(RSSDK_DIR)/lib/$(PlatformName);
$(RSSDK_DIR)/sample/common/lib/$(PlatformName)/$(PlatformToolset);
Release模式附加依赖项添加：
libpxc.lib
libpxcutils.lib
Debug模式附加依赖项添加：
libpxc_d.lib;
libpxcutils_d.lib;
至此，配置完成

代码

添加main.cpp，内容如下：

#include "stdio.h"#include "pxcsensemanager.h"#include "pxcsession.h"#include "util_render.h"#include "opencv2/opencv.hpp"#include <math.h>using namespace std;using namespace cv;//灰度图转伪彩图void f_gray2color(Mat gray_mat,Mat color_mat){    uchar* p=nullptr;    Vec3b* q=nullptr;    int height=gray_mat.rows;    int width=gray_mat.cols;    for(int i=0;i<height;i++)    {        for(int j=0;j<width;j++)        {            p=gray_mat.ptr<uchar>(i);            q=color_mat.ptr<Vec3b>(i);            if(p[j]==0)            {q[j][0]=0;q[j][1]=0;q[j][2]=0;}            else            {                q[j][0]=255-p[j];                q[j][1]=128-abs(128-p[j]);                q[j][2]=p[j];            }        }    }    return;}int main(){     //Mat image = imread("1.jpg");    //namedWindow("pic_viewer", CV_WINDOW_NORMAL);    //setWindowProperty("pic_viewer", CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);    //imshow("pic_viewer", image);    //waitKey(1000); //每隔1秒显示      //destroyAllWindows();    UtilRender   *renderDepth=new UtilRender(L"DEPTH_STREAM");    Mat framepic(480,640,CV_16UC1);//深度帧    Mat preFramePic(480,640,CV_16UC1);//深度帧    int frameCount = 0;    PXCSenseManager *sm=PXCSenseManager::CreateInstance();    PXCVideoModule::DataDesc desc={};    desc.deviceInfo.streams = PXCCapture::STREAM_TYPE_COLOR | PXCCapture::STREAM_TYPE_DEPTH;    //sm->EnableStream(PXCCapture::STREAM_TYPE_DEPTH,640,480);    sm->EnableStreams(&desc);    pxcStatus sts=sm->Init();    if (sts<PXC_STATUS_NO_ERROR) {        wprintf_s(L"Failed to locate any video stream(s)\n");        sm->Release();        return sts;    }    if(sm->AcquireFrame(true)<PXC_STATUS_NO_ERROR)        cout<<"未正常打开"<<endl;    PXCCapture::Sample *sample;    PXCImage *depthpic;    PXCImage:: ImageData depthImageData;    PXCImage:: ImageData colorImageData;    PXCImage::ImageInfo dinfo;    while (sm->AcquireFrame(true)>=PXC_STATUS_NO_ERROR)     {        sample=sm->QuerySample();        depthpic=sample->depth;        if (depthpic->AcquireAccess(PXCImage::ACCESS_READ,&depthImageData)<PXC_STATUS_NO_ERROR)            cout<<"未正常获取深度图像"<<endl;        dinfo=depthpic->QueryInfo();        ushort* dpixels=(ushort*)depthImageData.planes[0];        int dpitch=depthImageData.pitches[0]/sizeof(ushort);        for (int y=0;y<(int)dinfo.height;y++)        {            ushort* p=framepic.ptr<ushort>(y);            for(int x=0;x<(int)dinfo.width;x++)            {                ushort d=dpixels[y*dpitch+x];                p[x]=d;                //距离在0.2m至1.2m之间                //if (d>0)                //  p[x]=255-0.255*(d-200);                //else                //  p[x]=0;                }        }        //Mat output;        //framepic.convertTo(output,CV_8UC1,1);        Mat color(480,640,CV_8UC3,Scalar(255,255,255));        //f_gray2color(output,color);        if (frameCount>1)        {            for (int y=0;y<(int)dinfo.height;y++)            {                ushort* p=framepic.ptr<ushort>(y);                ushort* pp=preFramePic.ptr<ushort>(y);                Vec3b *q= color.ptr<Vec3b>(y);                for(int x=0;x<(int)dinfo.width;x++)                {                    if (abs(p[x]-pp[x])>10)//p[x]!=0 && pp[x]!=0 &&                    {                        //printf("%d\n",p[x]);                        q[x][0]=0;                        q[x][1]=0;                        q[x][2]=255;                    }                }            }        }        //imshow("depth picture",output);waitKey(1);        //imwrite("dd.png",output);        framepic.copyTo(preFramePic);        frameCount++;        depthpic->ReleaseAccess(&depthImageData);        if(!renderDepth->RenderFrame(depthpic)) break;        imshow("伪彩图",color);        waitKey(1);        sm->ReleaseFrame();    }    sm->Release();}