Ubuntu16.04下opencv获取realsense sr300的图像数据

看到网上很多的文章都是用的库是librealsense，现在用的库是librealsense2,感觉差别较大。

#include <librealsense2/rs.hpp>

#include <opencv2/opencv.hpp>

using namespace std;

using namespace cv;

int main()

{

    //构建一个抽象设备的管道

    rs2::pipeline pipe;

    //使用非默认配置文件创建配置以配置管道

    rs2::config cfg;

    //将所需的流添加到配置

    cfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8, 30);

    //指示管道使用请求的配置开始流式传输

    pipe.start(cfg);

    while(1)

    {

        // 放下几个第一帧以使自动曝光稳定

        rs2::frameset frames;

        for(int i = 0; i < 30; i++)

        {

            //等待所有配置的流生成一个帧

            frames = pipe.wait_for_frames();

        }

        //获取每个帧

        rs2::frame color_frame = frames.get_color_frame();

        //从彩色图像创建OpenCV矩阵

        Mat color(Size(640, 480), CV_8UC3, (void*)color_frame.get_data(), Mat::AUTO_STEP);

        namedWindow("Display Image", WINDOW_AUTOSIZE );

        imshow("Display Image", color);

        waitKey(0);

    }

    return 0;

}

因为用的是Qt的.pro文件

TEMPLATE = app

CONFIG += console c++11

CONFIG -= app_bundle

CONFIG -= qt

SOURCES += \

        main.cpp

INCLUDEPATH += /usr/local/include \

/usr/local/include/opencv \

/usr/local/include/opencv2\

/usr/local/include/librealsense2

LIBS += /usr/local/lib/libopencv_calib3d.so \

/usr/local/lib/libopencv_core.so \

/usr/local/lib/libopencv_features2d.so \

/usr/local/lib/libopencv_flann.so \

/usr/local/lib/libopencv_highgui.so \

/usr/local/lib/libopencv_imgcodecs.so \

/usr/local/lib/libopencv_imgproc.so \

/usr/local/lib/libopencv_ml.so \

/usr/local/lib/libopencv_objdetect.so \

/usr/local/lib/libopencv_photo.so \

/usr/local/lib/libopencv_shape.so \

/usr/local/lib/libopencv_stitching.so \

/usr/local/lib/libopencv_superres.so \

/usr/local/lib/libopencv_videoio.so \

/usr/local/lib/libopencv_video.so \

/usr/local/lib/libopencv_videostab.so\

/usr/local/lib/librealsense2.so

运行结果：