1.环境配置:
(1)在项目属性管理器中加入C:\Program Files (x86)\Intel RealSense SDK 2.0
目录下的intel.realsense.props文件
如下图:
(2)为引用头文件stb_image_write.h,在项目-属性-VC++目录-包含目录中加入
C:\Program Files (x86)\Intel RealSense SDK 2.0\samples
2.代码如下:
#include "stdafx.h"
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2015-2017 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
#include <algorithm> // std::min, std::max
// Helper functions
void register_glfw_callbacks(window& app, glfw_state& app_state);
int main(int argc, char * argv[]) try
{
// Create a simple OpenGL window for rendering:
window app(1280, 720, "RealSense Pointcloud Example");
// Construct an object to manage view state
glfw_state app_state;
// register callbacks to allow manipulation of the pointcloud
register_glfw_callbacks(app, app_state);
// Declare pointcloud object, for calculating pointclouds and texture mappings
rs2::pointcloud pc;
// We want the points object to be persistent so we can display the last cloud when a frame drops
rs2::points points;
// Declare RealSense pipeline, encapsulating the actual device and sensors
rs2::pipeline pipe;
// Start streaming with default recommended configuration
pipe.start();
while (app) // Application still alive?
{
// Wait for the next set of frames from the camera
auto frames = pipe.wait_for_frames();
auto depth = frames.get_depth_frame();
// Generate the pointcloud and texture mappings
points = pc.calculate(depth);
auto color = frames.get_color_frame();
// For cameras that don't have RGB sensor, we'll map the pointcloud to infrared instead of color
if (!color)
color = frames.get_infrared_frame();
// Tell pointcloud object to map to this color frame
pc.map_to(color);
// Upload the color frame to OpenGL
app_state.tex.upload(color);
// Draw the pointcloud
draw_pointcloud(app.width(), app.height(), app_state, points);
}
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;
}