Realsense D435提取不同通道的图像

代码

问题描述：

• realsense没有分离通道的python版本，因此尝试用c++写一个

c++源码

// realsense export left and right image and depth image

#include <iostream>
 
#include <sstream>
#include <stdlib.h>
#include <stdio.h>
#include <string>
#include <fstream>
#include <algorithm>
#include <cstring>
 
#include<opencv2/imgproc/imgproc.hpp>
#include<opencv2/core/core.hpp>
#include<opencv2/highgui/highgui.hpp>
#include <opencv2/highgui/highgui_c.h>

#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
#include <librealsense2/rsutil.h>


using namespace std;
// using namespace cv;
// using namespace std;

// 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::colorizer color_map;
    rs2::config cfg;

    cfg.enable_stream(RS2_STREAM_INFRARED, 1, 1280, 720, RS2_FORMAT_Y8, 30);
    cfg.enable_stream(RS2_STREAM_INFRARED, 2, 1280, 720, RS2_FORMAT_Y8, 30);
    cfg.enable_stream(RS2_STREAM_COLOR, 1280, 720, RS2_FORMAT_BGR8, 30);
    cfg.enable_stream(RS2_STREAM_DEPTH, 1280, 720, RS2_FORMAT_Z16, 30);
    
    rs2::pipeline pipe;
    pipe.start(cfg);

    bool stop = false;

    const auto window_name = "Display Image";
    cv::namedWindow(window_name, CV_WINDOW_AUTOSIZE);
    
    while(!stop){

        rs2::frameset frames = pipe.wait_for_frames();

        auto ir_frame_left = frames.get_infrared_frame(1);
        auto ir_frame_right = frames.get_infrared_frame(2);
        auto colored_frame = frames.get_color_frame();
        auto depth_frame = frames.get_depth_frame().apply_filter(color_map);


        //save files
        cv::Mat dMat_left = cv::Mat(cv::Size(1280, 720), CV_8UC1, (void*)ir_frame_left.get_data(),cv::Mat::AUTO_STEP);
        cv::Mat dMat_right = cv::Mat(cv::Size(1280, 720), CV_8UC1, (void*)ir_frame_right.get_data(),cv::Mat::AUTO_STEP);
        cv::Mat dMat_colored = cv::Mat(cv::Size(1280, 720), CV_8UC3, (void*)colored_frame.get_data(),cv::Mat::AUTO_STEP);
        cv::Mat dMat_depth = cv::Mat(cv::Size(1280, 720), CV_8UC3, (void*)depth_frame.get_data(),cv::Mat::AUTO_STEP);
        //cv::Mat dMat_depth = cv::Mat(cv::Size(1280, 720), CV_16U, (void*)depth_frame.get_data(),cv::Mat::AUTO_STEP);


        //cv::imwrite( "/home/work/Documents/irLeft0.png", dMat_left );
        //cv::imwrite( "/home/work/Documents/irRight0.png", dMat_right );
        //cv::imwrite( "/home/work/Documents/coloredCV0.png", dMat_colored);
        //cv::imwrite( "/home/work/Documents/depth0.png", dMat_depth);
    
        cv::imshow("ir_frame_left", dMat_left);
        cv::imshow("ir_frame_right", dMat_right);
        cv::imshow("depth", dMat_depth);
        cv::imshow("colored_frame", dMat_colored);

        char key = cv::waitKey(1);
        // Press esc or 'q' to close the image window
        if (key == 27){
            stop = true;
            cv::destroyAllWindows();
            break;
	       }
    }
    return EXIT_SUCCESS;
}
catch (const rs2::error &e){
    std::cout<<"RealSense error calling"<<e.get_failed_function()<<"("<<e.get_failed_args()<<"):\n"
            <<e.what()<<endl;
    return EXIT_FAILURE;
}
catch (const std::exception &e){
    std::cout<<e.what()<<endl;
    return EXIT_FAILURE;
}

CMakeLists.txt

# License: Apache 2.0. See LICENSE file in root directory.
# Copyright(c) 2019 Intel Corporation. All Rights Reserved.
#  minimum required cmake version: 3.1.0
cmake_minimum_required(VERSION 3.1.0)

project(RealsenseSpearateIMGS)

set( CMAKE_CXX_COMPILER "g++" )
set( CMAKE_BUILD_TYPE "Release" )
set( CMAKE_CXX_FLAGS "-std=c++11 -O3" )
# Enable C++11
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED TRUE)

FIND_PACKAGE(OpenCV REQUIRED)
FIND_PACKAGE(realsense2 REQUIRED)

include_directories( ${OpenCV_INCLUDE_DIRS} )
include_directories( ${realsense2_INCLUDE_DIRS})
add_executable(export_seprate_images export_seperate_images.cpp)

target_link_libraries( export_seprate_images ${OpenCV_LIBS} ${realsense2_LIBRARY})

遇到的问题

• rs2::colorizer color_map;要在前面声明，否则深度图depth_frame = frames.get_depth_frame().apply_filter(color_map);会报错
• 深度图采用color_map时，需要使用CV_8UC3格式，即dMat_depth = cv::Mat(cv::Size(1280, 720), CV_8UC3, (void*)depth_frame.get_data(),cv::Mat::AUTO_STEP);