zed + opencv 学习笔记

zed + opencv 实现图像深度获取

1.获取图片像素值

#include<opencv2/opencv.hpp>
using namespace cv;
using namespace std;
int main(){
    Mat img;
    img = imread("c:/aaa.jpg");
    cout << img.at<Vec3b>(5,5) << endl;
    imshow("hello",img);
        }

2.zed 获取图像深度

int x = image.getWidth() / 2;
int y = image.getHeight() / 2;
sl::float4 point_cloud_value;
point_cloud.getValue(x, y, &point_cloud_value);
float distance = sqrt(point_cloud_value.x*point_cloud_value.x + point_cloud_value.y*point_cloud_value.y + point_cloud_value.z*point_cloud_value.z);
printf("Distance to Camera at (%d, %d): %f mm\n", x, y, distance);

3.鼠标点击获取图像深度

void on_mouse(int EVENT, int x, int y, int flags, void* use