Realsense（四）github上一种提取彩色和深度视频流并转为mat的方案

/*******************************************************************************Intel Realsene SDKThe program starts Color and Depth Stream using Intel Realsense SDKand converting its frame from PXCImage to Mat variable.Easy for Image processing in Intel Realsense SDK Camera.*******************************************************************************/#include <windows.h>#include <wchar.h>#include "pxcsensemanager.h"#include "util_render.h"  //SDK provided utility class used for rendering (packaged in libpxcutils.lib)#include <conio.h>#include <iostream>#include <opencv2/core/core.hpp>#include <opencv2/features2d/features2d.hpp>#include <opencv2/highgui/highgui.hpp>#include <opencv2/imgproc/imgproc.hpp>#include <opencv2/calib3d/calib3d.hpp>#include <iostream>#include <stdio.h>#include <conio.h>#include <wchar.h>#include <vector>#include "pxcsession.h"#include "pxccapture.h"#include "util_render.h"#include "util_cmdline.h"#include "pxcprojection.h"#include "pxcmetadata.h"#include "util_cmdline.h"using namespace std;using namespace cv;int wmain(int argc, WCHAR* argv[]){cout << "Intel Realsense SDK Hacking using Opencv" << endl;cout << "Intel Realsense Camera SDK Frame Capture in opencv Mat Variable       -- by Deepak" << endl;cout << "Compiled with OpenCV version " << CV_VERSION << endl << endl;PXCSenseManager *psm = 0;psm = PXCSenseManager::CreateInstance();if (!psm) {wprintf_s(L"Unable to create the PXCSenseManager\n");return 1;}psm->EnableStream(PXCCapture::STREAM_TYPE_COLOR, 640, 480); //depth resolutionpsm->EnableStream(PXCCapture::STREAM_TYPE_DEPTH, 640, 480); //depth resolutionpsm->Init();UtilRender color_render(L"Color Stream");UtilRender depth_render(L"Depth Stream");///////////// OPENCVIplImage *image = 0;CvSize gab_size;gab_size.height = 480;gab_size.width = 640;image = cvCreateImage(gab_size, 8, 3);IplImage *depth = 0;CvSize gab_size_depth;gab_size_depth.height = 240;gab_size_depth.width = 320;depth = cvCreateImage(gab_size, 8, 1);PXCImage::ImageData data;PXCImage::ImageData data_depth;unsigned char *rgb_data;float *depth_data;PXCImage::ImageInfo rgb_info;PXCImage::ImageInfo depth_info;///////for (;;){if (psm->AcquireFrame(true)<PXC_STATUS_NO_ERROR) break;PXCCapture::Sample *sample = psm->QuerySample();PXCImage *colorIm, *depthIm;// retrieve the image or frame by type from the samplecolorIm = sample->color;depthIm = sample->depth;PXCImage *color_image = colorIm;PXCImage *depth_image = depthIm;color_image->AcquireAccess(PXCImage::ACCESS_READ_WRITE, PXCImage::PIXEL_FORMAT_RGB24, &data);depth_image->AcquireAccess(PXCImage::ACCESS_READ_WRITE, &data_depth);rgb_data = data.planes[0];for (int y = 0; y<480; y++){for (int x = 0; x<640; x++){for (int k = 0; k<3; k++){image->imageData[y * 640 * 3 + x * 3 + k] = rgb_data[y * 640 * 3 + x * 3 + k];}}}short* depth_data = (short*)data_depth.planes[0]; //for (int y = 0; y<920; y++){for (int x = 0; x<320; x++){depth->imageData[y * 320 + x] = depth_data[y * 320 + x];}}color_image->ReleaseAccess(&data);depth_image->ReleaseAccess(&data_depth);cv::Mat rgb(image);imshow("Color_cv2", rgb);cv::Mat dep(depth);imshow("depth_cv2", dep);/////////////opencvif (cvWaitKey(10) >= 0)break;////////if (!color_render.RenderFrame(color_image)) break;if (!depth_render.RenderFrame(depth_image)) break;psm->ReleaseFrame();}cvReleaseImage(&image);cvReleaseImage(&depth);psm->Release();return 0;}

<span style="font-family: Arial, Helvetica, sans-serif; background-color: rgb(255, 255, 255);">用过这个摄像头的都知道它经常会出现一些闪退的情况，编译之后运行如果获取视频流失败闪退，请重新生成解决方案，再运行，多试几次就可以了。</span>

<span style="font-family: Arial, Helvetica, sans-serif; background-color: rgb(255, 255, 255);">深度图的转化效果如下：</span>

github参考地址：https://github.com/dthepok/realsense