https://dev.intelrealsense.com/docs/rs-hello-realsense
👆上面代码仅供参考，不要用它，要到👇下面下载source code源码
要先安装inter realsense SDK 2.0并下载source code
文章目录
rs-hello-realsense（C++）（调用摄像头显示中心深度距离）
Demonstrates the basics of connecting to a RealSense device and using depth data
realsense_test.cpp
#include <stdio.h>
#include <iostream>
#include <librealsense2/rs.hpp> // Include Intel RealSense Cross Platform API
int main() {
// Create a Pipeline - this serves as a top-level API for streaming and processing frames
rs2::pipeline p;
// Configure and start the pipeline
p.start();
// Block program until frames arrive
rs2::frameset frames = p.wait_for_frames();
// Try to get a frame of a depth image
rs2::depth_frame depth = frames.get_depth_frame();
// Get the depth frame's dimensions
float width = depth.get_width();
float height = depth.get_height();
// Query the distance from the camera to the object in the center of the image
float dist_to_center = depth.get_distance(width / 2, height / 2);
// Print the distance
std::cout << "The camera is facing an object " << dist_to_center << " meters away \r";
return 0;
}
运行结果：
The camera is facing an object 3.602 meters away
Distance（C）（测试depth流）（SDK里少了example.h文件，搞不了[我勒个去，它没集成在安装包里面，要下source code才有这个文件]）
Equivalent to hello-realsense but rewritten for C users
Intel® RealSense™ SDK 2.0 (v2.49.0)
直接把这个文件拷到项目工程文件夹下，跟.c文件放在一起
然后编译运行，一次成功（中间还有个小插曲，就是realsense2.dll文件是2.48的，但是最新的是要求2.49的，所以第一次运行没成功，把2.49的realsense2.dll拷过去就运行成功了）
realsense_test.c
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
/* Include the librealsense C header files */
#include <librealsense2/rs.h>
#include <librealsense2/h/rs_pipeline.h>
#include <librealsense2/h/rs_option.h>
#include <librealsense2/h/rs_frame.h>
#include "example.h"
#include <stdlib.h>
#include <stdint.h>
#include <stdio.h>
// These parameters are reconfigurable //
#define STREAM RS2_STREAM_DEPTH // rs2_stream is a types of data provided by RealSense device //
#define FORMAT RS2_FORMAT_Z16 // rs2_format identifies how binary data is encoded within a frame //
#define WIDTH 640 // Defines the number of columns for each frame or zero for auto resolve//
#define HEIGHT 0 // Defines the number of lines for each frame or zero for auto resolve //
#define FPS 30 // Defines the rate of frames per second //
#define STREAM_INDEX 0 // Defines the stream index, used for multiple streams of the same type //
int main()
{
rs2_error* e = 0;
// Create a context object. This object owns the handles to all connected realsense devices.
// The returned object should be released with rs2_delete_context(...)
rs2_context* ctx = rs2_create_context(RS2_API_VERSION, &e);
check_error(e);
/* Get a list of all the connected devices. */
// The returned object should be released with rs2_delete_device_list(...)
rs2_device_list* device_list = rs2_query_devices(ctx, &e);
check_error(e);
int dev_count = rs2_get_device_count(device_list, &e);
check_error(e);
printf("There are %d connected RealSense devices.\n", dev_count);
if (0 == dev_count)
return EXIT_FAILURE;
// Get the first connected device
// The returned object should be released with rs2_delete_device(...)
rs2_device* dev = rs2_create_device(device_list, 0, &e);
check_error(e);
print_device_info(dev);
// Create a pipeline to configure, start and stop camera streaming
// The returned object should be released with rs2_delete_pipeline(...)
rs2_pipeline* pipeline = rs2_create_pipeline(ctx, &e);
check_error(e);
// Create a config instance, used to specify hardware configuration
// The retunred object should be released with rs2_delete_config(...)
rs2_config* config = rs2_create_config(&e);
check_error(e);
// Request a specific configuration
rs2_config_enable_stream(config, STREAM, STREAM_INDEX, WIDTH, HEIGHT, FORMAT, FPS, &e);
check_error(e);
// Start the pipeline streaming
// The retunred object should be released with rs2_delete_pipeline_profile(...)
rs2_pipeline_profile* pipeline_profile = rs2_pipeline_start_with_config(pipeline, config, &e);
if (e)
{
printf("The connected device doesn't support depth streaming!\n");
exit(EXIT_FAILURE);
}
while (1)
{
// This call waits until a new composite_frame is available
// composite_frame holds a set of frames. It is used to prevent frame drops
// The returned object should be released with rs2_release_frame(...)
rs2_frame* frames = rs2_pipeline_wait_for_frames(pipeline, RS2_DEFAULT_TIMEOUT, &e);
check_error(e);
// Returns the number of frames embedded within the composite frame
int num_of_frames = rs2_embedded_frames_count(frames, &e);
check_error(e);
int i;
for (i = 0; i < num_of_frames; ++i)
{
// The retunred object should be released with rs2_release_frame(...)
rs2_frame* frame = rs2_extract_frame(frames, i, &e);
check_error(e);
// Check if the given frame can be extended to depth frame interface
// Accept only depth frames and skip other frames
if (0 == rs2_is_frame_extendable_to(frame, RS2_EXTENSION_DEPTH_FRAME, &e))
continue;
// Get the depth frame's dimensions
int width = rs2_get_frame_width(frame, &e);
check_error(e);
int height = rs2_get_frame_height(frame, &e);
check_error(e);
// Query the distance from the camera to the object in the center of the image
float dist_to_center = rs2_depth_frame_get_distance(frame, width / 2, height / 2, &e);
check_error(e);
// Print the distance
printf("The camera is facing an object %.3f meters away.\n", dist_to_center);
rs2_release_frame(frame);
}
rs2_release_frame(frames);
}
// Stop the pipeline streaming
rs2_pipeline_stop(pipeline, &e);
check_error(e);
// Release resources
rs2_delete_pipeline_profile(pipeline_profile);
rs2_delete_config(config);
rs2_delete_pipeline(pipeline);
rs2_delete_device(dev);
rs2_delete_device_list(device_list);
rs2_delete_context(ctx);
return EXIT_SUCCESS;
}
运行结果：
Color（C）（测试color流）
Demonstrate how to stream color data and prints some frame information
realsense_test.c
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
/* Include the librealsense C header files */
#include <librealsense2/rs.h>
#include <librealsense2/h/rs_pipeline.h>
#include <librealsense2/h/rs_frame.h>
#include <stdlib.h>
#include <stdint.h>
#include <stdio.h>
#include "example.h"
// These parameters are reconfigurable //
#define STREAM RS2_STREAM_COLOR // rs2_stream is a types of data provided by RealSense device //
#define FORMAT RS2_FORMAT_RGB8 // rs2_format identifies how binary data is encoded within a frame //
#define WIDTH 640 // Defines the number of columns for each frame //
#define HEIGHT 480 // Defines the number of lines for each frame //
#define FPS 30 // Defines the rate of frames per second //
#define STREAM_INDEX 0 // Defines the stream index, used for multiple streams of the same type //
int main()
{
rs2_error* e = 0;
// Create a context object. This object owns the handles to all connected realsense devices.
// The returned object should be released with rs2_delete_context(...)
rs2_context* ctx = rs2_create_context(RS2_API_VERSION, &e);
check_error(e);
/* Get a list of all the connected devices. */
// The returned object should be released with rs2_delete_device_list(...)
rs2_device_list* device_list = rs2_query_devices(ctx, &e);
check_error(e);
int dev_count = rs2_get_device_count(device_list, &e);
check_error(e);
printf("There are %d connected RealSense devices.\n", dev_count);
if (0 == dev_count)
return EXIT_FAILURE;
// Get the first connected device
// The returned object should be released with rs2_delete_device(...)
rs2_device* dev = rs2_create_device(device_list, 0, &e);
check_error(e);
print_device_info(dev);
// Create a pipeline to configure, start and stop camera streaming
// The returned object should be released with rs2_delete_pipeline(...)
rs2_pipeline* pipeline = rs2_create_pipeline(ctx, &e);
check_error(e);
// Create a config instance, used to specify hardware configuration
// The retunred object should be released with rs2_delete_config(...)
rs2_config* config = rs2_create_config(&e);
check_error(e);
// Request a specific configuration
rs2_config_enable_stream(config, STREAM, STREAM_INDEX, WIDTH, HEIGHT, FORMAT, FPS, &e);
check_error(e);
// Start the pipeline streaming
// The retunred object should be released with rs2_delete_pipeline_profile(...)
rs2_pipeline_profile* pipeline_profile = rs2_pipeline_start_with_config(pipeline, config, &e);
if (e)
{
printf("The connected device doesn't support color streaming!\n");
exit(EXIT_FAILURE);
}
while (1)
{
// This call waits until a new composite_frame is available
// composite_frame holds a set of frames. It is used to prevent frame drops
// The returned object should be released with rs2_release_frame(...)
rs2_frame* frames = rs2_pipeline_wait_for_frames(pipeline, RS2_DEFAULT_TIMEOUT, &e);
check_error(e);
// Returns the number of frames embedded within the composite frame
int num_of_frames = rs2_embedded_frames_count(frames, &e);
check_error(e);
int i;
for (i = 0; i < num_of_frames; ++i)
{
// The retunred object should be released with rs2_release_frame(...)
rs2_frame* frame = rs2_extract_frame(frames, i, &e);
check_error(e);
const uint8_t* rgb_frame_data = (const uint8_t*)(rs2_get_frame_data(frame, &e));
check_error(e);
unsigned long long frame_number = rs2_get_frame_number(frame, &e);
check_error(e);
rs2_time_t frame_timestamp = rs2_get_frame_timestamp(frame, &e);
check_error(e);
// Specifies the clock in relation to which the frame timestamp was measured
rs2_timestamp_domain frame_timestamp_domain = rs2_get_frame_timestamp_domain(frame, &e);
check_error(e);
const char* frame_timestamp_domain_str = rs2_timestamp_domain_to_string(frame_timestamp_domain);
rs2_metadata_type frame_metadata_time_of_arrival = rs2_get_frame_metadata(frame, RS2_FRAME_METADATA_TIME_OF_ARRIVAL, &e);
check_error(e);
printf("RGB frame arrived.\n");
printf("First 10 bytes: ");
int i;
for (i = 0; i < 10; ++i)
printf("%02x ", rgb_frame_data[i]);
printf("\nFrame No: %llu\n", frame_number);
printf("Timestamp: %f\n", frame_timestamp);
printf("Timestamp domain: %s\n", frame_timestamp_domain_str);
printf("Time of arrival: %lld\n\n", frame_metadata_time_of_arrival);
rs2_release_frame(frame);
}
rs2_release_frame(frames);
}
// Stop the pipeline streaming
rs2_pipeline_stop(pipeline, &e);
check_error(e);
// Release resources
rs2_delete_pipeline_profile(pipeline_profile);
rs2_delete_config(config);
rs2_delete_pipeline(pipeline);
rs2_delete_device(dev);
rs2_delete_device_list(device_list);
rs2_delete_context(ctx);
return EXIT_SUCCESS;
}
运行结果：
Capture（C++）（显示color和depth图）（裂开，官方给的要引用的库还得自己编译！）（还有不要用官网上那个不全的代码，要用source code里的代码！）
Shows how to synchronize and render multiple streams: left, right, depth and RGB streams
example.hpp不能直接拷贝到源码文件夹下，要指定路径引用
裂开，各种报错
不用安装包的文件了，直接用source code
悄悄告诉你，文件夹名字为include的极有可能是需要你包含的。。。😅，，，比如这个
经过同事的点拨，终于知道为啥报错了，因为还有一些关于其他比如opencv的头文件、库没包含进去。。。
要把这三文件里的内容都给加进去，为了方便，就不手动添加了，直接把这三加进属性表管理器里（添加顺序没有要求！）
然后编译还是不行，报错！
通过报错的情况来看，应该跟glfw这玩意有关
在SDK中找到第三方库，发现这货居然没编译（没有生成.lib或.dll文件）
幸好它有工程项目文件，打开它直接用VS编译
编译后生成了glfw-imgui.lib文件
把它的文件名和它所在的目录分别添加到属性页的输入-附加依赖项和常规-附加库目录中
然后编译运行程序，大功告成
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
#include "example.hpp" // Include short list of convenience functions for rendering
// Capture Example demonstrates how to
// capture depth and color video streams and render them to the screen
int main(int argc, char* argv[]) try
{
rs2::log_to_console(RS2_LOG_SEVERITY_ERROR);
// Create a simple OpenGL window for rendering:
window app(1280, 720, "RealSense Capture Example");
// Declare depth colorizer for pretty visualization of depth data
rs2::colorizer color_map;
// Declare rates printer for showing streaming rates of the enabled streams.
rs2::rates_printer printer;
// Declare RealSense pipeline, encapsulating the actual device and sensors
rs2::pipeline pipe;
// Start streaming with default recommended configuration
// The default video configuration contains Depth and Color streams
// If a device is capable to stream IMU data, both Gyro and Accelerometer are enabled by default
pipe.start();
while (app) // Application still alive?
{
rs2::frameset data = pipe.wait_for_frames(). // Wait for next set of frames from the camera
apply_filter(printer). // Print each enabled stream frame rate
apply_filter(color_map); // Find and colorize the depth data
// The show method, when applied on frameset, break it to frames and upload each frame into a gl textures
// Each texture is displayed on different viewport according to it's stream unique id
app.show(data);
}
return EXIT_SUCCESS;
}
catch (const rs2::error& e)
{
std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n " << e.what() << std::endl;
return EXIT_FAILURE;
}
catch (const std::exception& e)
{
std::cerr << e.what() << std::endl;
return EXIT_FAILURE;
}
运行结果：
imshow （C++）
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
#include <opencv2/opencv.hpp> // Include OpenCV API
int main(int argc, char* argv[]) try
{
// Declare depth colorizer for pretty visualization of depth data
//rs2::colorizer color_map;
// Declare RealSense pipeline, encapsulating the actual device and sensors
rs2::pipeline pipe;
// Start streaming with default recommended configuration
pipe.start();
using namespace cv;
const auto window_name = "Display Image";
namedWindow(window_name, WINDOW_AUTOSIZE);
while (waitKey(1) < 0 && getWindowProperty(window_name, WND_PROP_AUTOSIZE) >= 0)
{
rs2::frameset data = pipe.wait_for_frames(); // Wait for next set of frames from the camera
//rs2::frame depth = data.get_depth_frame().apply_filter(color_map);
rs2::frame color = data.get_color_frame();
// Query frame size (width and height)
//const int w = depth.as<rs2::video_frame>().get_width();
const int w = color.as<rs2::video_frame>().get_width();
//const int h = depth.as<rs2::video_frame>().get_height();
const int h = color.as<rs2::video_frame>().get_height();
// Create OpenCV matrix of size (w,h) from the colorized depth data
//Mat image(Size(w, h), CV_8UC3, (void*)depth.get_data(), Mat::AUTO_STEP);
Mat image(Size(w, h), CV_8UC3, (void*)color.get_data(), Mat::AUTO_STEP);
// Update the window with new data
imshow(window_name, image);
}
return EXIT_SUCCESS;
}
catch (const rs2::error& e)
{
std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n " << e.what() << std::endl;
return EXIT_FAILURE;
}
catch (const std::exception& e)
{
std::cerr << e.what() << std::endl;
return EXIT_FAILURE;
}
怎么通道顺序是反的？
添加了cvtColor函数后，好了（转换一下通道RGB2BGR）
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
#include <opencv2/opencv.hpp> // Include OpenCV API
//Dontla 20210827 （cvtColor函数）
//写出函数，右键速览定义，看头文件在哪个目录下，在附加包含目录引用它并且在代码中也要include一下
#include <opencv2/imgproc.hpp>
int main(int argc, char* argv[]) try
{
// Declare depth colorizer for pretty visualization of depth data
//rs2::colorizer color_map;
// Declare RealSense pipeline, encapsulating the actual device and sensors
rs2::pipeline pipe;
// Start streaming with default recommended configuration
pipe.start();
using namespace cv;
const auto window_name = "Display Image";
namedWindow(window_name, WINDOW_AUTOSIZE);
while (waitKey(1) < 0 && getWindowProperty(window_name, WND_PROP_AUTOSIZE) >= 0)
{
rs2::frameset data = pipe.wait_for_frames(); // Wait for next set of frames from the camera
//rs2::frame depth = data.get_depth_frame().apply_filter(color_map);
rs2::frame color = data.get_color_frame();
// Query frame size (width and height)
//const int w = depth.as<rs2::video_frame>().get_width();
const int w = color.as<rs2::video_frame>().get_width();
//const int h = depth.as<rs2::video_frame>().get_height();
const int h = color.as<rs2::video_frame>().get_height();
// Create OpenCV matrix of size (w,h) from the colorized depth data
//Mat image(Size(w, h), CV_8UC3, (void*)depth.get_data(), Mat::AUTO_STEP);
Mat image(Size(w, h), CV_8UC3, (void*)color.get_data(), Mat::AUTO_STEP);
//Dontla 20210827
Mat output_image;
cvtColor(image, output_image, CV_BGR2RGB);//转换
// Update the window with new data
imshow(window_name, output_image);
}
return EXIT_SUCCESS;
}
catch (const rs2::error& e)
{
std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n " << e.what() << std::endl;
return EXIT_FAILURE;
}
catch (const std::exception& e)
{
std::cerr << e.what() << std::endl;
return EXIT_FAILURE;
}
为啥opencv显示是反色的，这是因为opencv它默认展示图片就是反色的，你得通过配置让它正确显示，可以用realsense的enable函数解决（主要看那个RS2_FORMAT_BGR）
rs2::config tempcfg;
tempcfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);
tempcfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8, 30);
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