RealSense (一） rs-capture

这是一个获取深度相机图像的程序。可以再官方SDK中找到。这里还有另外的github

cmake使用 ‘cmake … -DBUILD_GRAPHICAL_ENABLE=true’（例） 可以完成选择性编译

// 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;
}