新建C++空项目,选择SDK中example的某个程序作为主程序。如im-show.cpp
// 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);
// Query frame size (width and height)
const int w = depth.as<rs2::video_frame>().get_width();
const int h = depth.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);
// 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;
}
然后进行属性配置。realsense不用进行手动属性配置,在SDK文件夹下有三个属性文件:
其中OpenCV的属性文件,我用的自己原先配置的文件,版本4.11。
配置时Debug 选择X86:
选择属性管理器,右键Debug|x64,添加现有属性表:
连接设备,复制sample里的程序,就可以运行了。