C#下使用RealSense D435i获取图像，深度，导出.ply点云

首先需要在NuGet管理中安装RealSense库相关包。

主要安装下面两个包：

 代码中引入：

using Intel.RealSense;

//配置相机
var cfg = new Config();

using (var ctx = new Context())
{

    var devices = ctx.QueryDevices();
    var dev = devices[0];

    Console.WriteLine("\nUsing device 0, an {0}", dev.Info[CameraInfo.Name]);
    Console.WriteLine("    Serial number: {0}", dev.Info[CameraInfo.SerialNumber]);
    Console.WriteLine("    Firmware version: {0}", dev.Info[CameraInfo.FirmwareVersion]);

    var sensors = dev.QuerySensors();
    var depthSensor = sensors[0];
    var colorSensor = sensors[1];
    
    var depthProfile = depthSensor.StreamProfiles.Where(p => p.Stream == Intel.RealSense.Stream.Depth).OrderBy(p => p.Framerate).Select(p => p.As<VideoStreamProfile>()).First();

    var colorProfile = colorSensor.StreamProfiles.Where(p => p.Stream == Intel.RealSense.Stream.Color).OrderBy(p => p.Framerate).Select(p => p.As<VideoStreamProfile>()).First();

    //配置相机宽高，深度，帧数
    cfg.EnableStream(Intel.RealSense.Stream.Depth, 640, 480, Format.Z16, 30);
    cfg.EnableStream(Intel.RealSense.Stream.Color, 640, 480, Format.Bgr8, 30);
}

var pipe = new Pipeline();

//启动相机并应用配置
pipe.Start(cfg);

Colorizer color_map = new Colorizer();

while (true)
{
   using (var frames = pipe.WaitForFrames())
   {
       //对齐深度图像
       Align align = new Align(Intel.RealSense.Stream.Color).DisposeWith(frames);
       Frame aligned = align.Process(frames).DisposeWith(frames);
       FrameSet alignedframeset = aligned.As<FrameSet>().DisposeWith(frames);
       var colorFrame = alignedframeset.ColorFrame.DisposeWith(alignedframeset);
       var depthFrame = alignedframeset.DepthFrame.DisposeWith(alignedframeset);

       var colorizedDepth = color_map.Process<VideoFrame>(depthFrame).DisposeWith(alignedframeset);

       //获取视频帧并转bitmap
       System.Drawing.Bitmap DepthImg = new System.Drawing.Bitmap(colorFrame.Width, colorFrame.Height, colorFrame.Stride, System.Drawing.Imaging.PixelFormat.Format24bppRgb, colorizedDepth.Data);

       System.Drawing.Bitmap ColorImg = new System.Drawing.Bitmap(colorFrame.Width, colorFrame.Height, colorFrame.Stride, System.Drawing.Imaging.PixelFormat.Format24bppRgb, frames.ColorFrame.Data);

       //将图像显示到picturebox控件中，需提前放置好控件
       PictureBox.Image = ColorImg;
       PictureBox2.Image = DepthImg;
   }
}

如果需要导出.ply点云数据，插入以下代码即可：

//点云数据
PointCloud pointcloud = new PointCloud();
//设置Texture
pointcloud.MapTexture(colorFrame);
//生成点云
Points points = pointcloud.Process(depthFrame).As<Points>();
//导出.ply
points.ExportToPLY("standard.ply", colorFrame);

具体demo下载：C#RealSense获取图像流Demo-C#文档类资源-CSDN下载