RealSense R200输出深度视频流，鼠标左键点击可输出该点的深度

RealSenseR200版是当今最小的3D传感器。

这是一个利用RealSenseR200的小程序。

使用OpenCV2的Mat装载深度数据，在imshow时，鼠标左键单击窗口的深度图中一点，即可cout输出该点的深度。单位为mm。

#include "pxcsensemanager.h"

#include "pxcmetadata.h"
#include "util_cmdline.h"
#include "util_render.h"
#include <opencv2\opencv.hpp>
using namespace cv;
using namespace std;
Mat depth;
Mat color;
//鼠标点击回调函数
void on_mouse(int event,int x, int y,int flags,void *ustc);


int wmain(int argc, WCHAR* argv[])
{
PXCSenseManager *psm = PXCSenseManager::CreateInstance();
    if (!psm)
    {
        wprintf_s(L"Unabel to create the PXCSenseManager\n");
        return 1;
    }

    psm->EnableStream(PXCCapture::STREAM_TYPE_COLOR);
    psm->EnableStream(PXCCapture::STREAM_TYPE_DEPTH);


    if (psm->Init() != PXC_STATUS_NO_ERROR)
    {
        wprintf_s(L"Unable to Init the PXCSenseManager\n");
        return 2;
    }


    PXCImage *colorIm, *depthIm;
    PXCImage::ImageData depth_data;
    PXCImage::ImageData color_data;
    PXCImage::ImageInfo depth_information;
    PXCImage::ImageInfo color_information;

namedWindow("depth");
setMouseCallback("depth",on_mouse,0);
    while (1)
    {
        if (psm->AcquireFrame(true) < PXC_STATUS_NO_ERROR) break;


        PXCCapture::Sample *sample = psm->QuerySample();


        colorIm = sample->color;
        depthIm = sample->depth;


//获取深度和彩色帧
colorIm->AcquireAccess(PXCImage::ACCESS_READ,PXCImage::PIXEL_FORMAT_RGB24,  &color_data);
        depthIm->AcquireAccess(PXCImage::ACCESS_READ, &depth_data);//深度帧获取的格式也可调节


        depth_information = sample->depth->QueryInfo();
        color_information = sample->color->QueryInfo();


       //利用构造函数，载入深度数据和彩色数据。最后步进不要忘了除以uchar的大小
depth=Mat(Size(depth_information.width,depth_information.height),CV_16UC1,(void*)depth_data.planes[0],depth_data.pitches[0]/sizeof(uchar));
color=Mat(Size(color_information.width,color_information.height),CV_8UC3, (void*)color_data.planes[0],color_data.pitches[0]/sizeof(uchar));
        
        depthIm->ReleaseAccess(&depth_data);
        colorIm->ReleaseAccess(&color_data);


        psm->ReleaseFrame();
        
//imshow("color", color);
//CV_16UC1的图片在imshow时，原始数据将除以256，将最远探测距离设为z，那么imshow时可以乘以255*256/z,此处乘以15
imshow("depth",depth*15);

        waitKey(1);
    }
    psm->Release(); 
}


void on_mouse(int event,int x, int y,int flags,void *ustc)
{
if(event==CV_EVENT_LBUTTONDOWN)
{
cout<<depth.at<ushort>(y,x)<<"mm"<<endl;
}

}