realsense435在VS2019使用OpenCV显示彩色图像与深度图像处理；

创建项目可参考：https://blog.csdn.net/hanshuning/article/details/100972596

本文参考：

https://github.com/IntelRealSense/librealsense/blob/master/doc/stepbystep/getting_started_with_openCV.md

1.OpenCV显示一帧彩色图像

// include the librealsense C++ header file
#include <librealsense2/rs.hpp>

// include OpenCV header file
#include <opencv2/opencv.hpp>

using namespace std;
using namespace cv;

int main()
{
    //Contruct a pipeline which abstracts the device
    rs2::pipeline pipe;

    //Create a configuration for configuring the pipeline with a non default profile
    rs2::config cfg;

    //Add desired streams to configuration
    cfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8, 30);

    //Instruct pipeline to start streaming with the requested configuration
    pipe.start(cfg);

    // Camera warmup - dropping several first frames to let auto-exposure stabilize
    rs2::frameset frames;
    for(int i = 0; i < 30; i++)
    {
        //Wait for all configured streams to produce a frame
        frames = pipe.wait_for_frames();
    }

    //Get each frame
    rs2::frame color_frame = frames.get_color_frame();

    // Creating OpenCV Matrix from a color image
    Mat color(Size(640, 480), CV_8UC3, (void*)color_frame.get_data(), Mat::AUTO_STEP);

    // Display in a GUI
    namedWindow("Display Image", WINDOW_AUTOSIZE );
    imshow("Display Image", color);

    waitKey(0);

    return 0;
}

2.OpenCV显示RGB图像视频

// include the librealsense C++ header file
#include <librealsense2/rs.hpp>

// include OpenCV header file
#include <opencv2/opencv.hpp>

using namespace std;
using namespace cv;

int main()
{
    //Contruct a pipeline which abstracts the device
    rs2::pipeline pipe;

    //Create a configuration for configuring the pipeline with a non default profile
    rs2::config cfg;

    //Add desired streams to configuration
    cfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8, 30);

    //Instruct pipeline to start streaming with the requested configuration
    pipe.start(cfg);

    // Camera warmup - dropping several first frames to let auto-exposure stabilize
    rs2::frameset frames;
    for(int i = 0; i < 30; i++)
    {
        //Wait for all configured streams to produce a frame
        frames = pipe.wait_for_frames();
    }

    //Get each frame
    rs2::frame color_frame = frames.get_color_frame();

    // Creating OpenCV Matrix from a color image
    Mat color(Size(640, 480), CV_8UC3, (void*)color_frame.get_data(), Mat::AUTO_STEP);

    // Display in a GUI
    namedWindow("Display Image", WINDOW_AUTOSIZE );
    imshow("Display Image", color);

    waitKey(0);

    return 0;
}

3.OpenCV显示一帧红外和深度数据（与RGB没有什么不同）

// include the librealsense C++ header file
#include <librealsense2/rs.hpp>

// include OpenCV header file
#include <opencv2/opencv.hpp>

using namespace std;
using namespace cv;

int main()
{
    //Contruct a pipeline which abstracts the device
    rs2::pipeline pipe;

    //Create a configuration for configuring the pipeline with a non default profile
    rs2::config cfg;

    //Add desired streams to configuration
    cfg.enable_stream(RS2_STREAM_INFRARED, 640, 480, RS2_FORMAT_Y8, 30);
    cfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);

    //Instruct pipeline to start streaming with the requested configuration
    pipe.start(cfg);

    // Camera warmup - dropping several first frames to let auto-exposure stabilize
    rs2::frameset frames;
    for(int i = 0; i < 30; i++)
    {
        //Wait for all configured streams to produce a frame
        frames = pipe.wait_for_frames();
    }

    //Get each frame
    rs2::frame ir_frame = frames.first(RS2_STREAM_INFRARED);
    rs2::frame depth_frame = frames.get_depth_frame();

    // Creating OpenCV matrix from IR image
    Mat ir(Size(640, 480), CV_8UC1, (void*)ir_frame.get_data(), Mat::AUTO_STEP);

    // Apply Histogram Equalization
    equalizeHist( ir, ir );
    applyColorMap(ir, ir, COLORMAP_JET);

    // Display the image in GUI
    namedWindow("Display Image", WINDOW_AUTOSIZE );
    imshow("Display Image", ir);

    waitKey(0);

    return 0;
}

4.OpenCV显示红外和深度数据视频（与RGB显示没什么区别）

// include the librealsense C++ header file
#include <librealsense2/rs.hpp>

// include OpenCV header file
#include <opencv2/opencv.hpp>

using namespace std;
using namespace cv;

int main()
{
	//Contruct a pipeline which abstracts the device
	rs2::pipeline pipe;

	//Create a configuration for configuring the pipeline with a non default profile
	rs2::config cfg;

	//Add desired streams to configuration
	cfg.enable_stream(RS2_STREAM_INFRARED, 640, 480, RS2_FORMAT_Y8, 30);
	cfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);

	//Instruct pipeline to start streaming with the requested configuration
	pipe.start(cfg);

	// Camera warmup - dropping several first frames to let auto-exposure stabilize
	rs2::frameset frames;
	for (int i = 0; i < 30; i++)
	{
		//Wait for all configured streams to produce a frame
		frames = pipe.wait_for_frames();
	}
	const auto window_name = "Display Image";
	while (1)
	{
		//Get each frame
		frames = pipe.wait_for_frames(); // Wait for next set of frames from the camera
		rs2::frame ir_frame = frames.first(RS2_STREAM_INFRARED);
		rs2::frame depth_frame = frames.get_depth_frame();

		// Creating OpenCV matrix from IR image
		Mat ir(Size(640, 480), CV_8UC1, (void*)ir_frame.get_data(), Mat::AUTO_STEP);
		imshow("Image1", ir);
		// Apply Histogram Equalization
		equalizeHist(ir, ir);
		imshow("Image2", ir);
		applyColorMap(ir, ir, COLORMAP_JET);

		// Display the image in GUI
		namedWindow(window_name, WINDOW_AUTOSIZE);
		imshow("Display Image", ir);

		waitKey(1);
	}
	return 0;
}

直方图均衡化之前、直方图均衡化之后、最终显示：