用OpenCV显示D435的左右ir图像

最新推荐文章于 2024-04-26 08:52:18 发布

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最新推荐文章于 2024-04-26 08:52:18 发布

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本文介绍如何使用 Intel Realsense D435 相机配置红外流并实时显示左右红外图像。通过设置相机分辨率、帧率等参数，并利用 libRealsense 库启动红外流，最终将获取到的数据转换为 OpenCV 的 Mat 对象进行显示。

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int D435_IR()
{
int width = 1280;
int height = 720;
int fps = 30;
rs2::config config;
config.enable_stream(RS2_STREAM_INFRARED, 1, width, height, RS2_FORMAT_Y8, fps);
config.enable_stream(RS2_STREAM_INFRARED, 2, width, height, RS2_FORMAT_Y8, fps);

// start pipeline
rs2::pipeline pipeline;
rs2::pipeline_profile pipeline_profile = pipeline.start(config);

while (1) // Application still alive?
{
// wait for frames and get frameset
rs2::frameset frameset = pipeline.wait_for_frames();

// get single infrared frame from frameset
//rs2::video_frame ir_frame = frameset.get_infrared_frame();

// get left and right infrared frames from frameset
rs2::video_frame ir_frame_left = frameset.get_infrared_frame(1);
rs2::video_frame ir_frame_right = frameset.get_infrared_frame(2);

cv::Mat dMat_left = cv::Mat(cv::Size(width, height), CV_8UC1, (void*)ir_frame_left.get_data());
cv::Mat dMat_right = cv::Mat(cv::Size(width, height), CV_8UC1, (void*)ir_frame_right.get_data());

cv::imshow("img_l", dMat_left);
cv::imshow("img_r", dMat_right);
char c = cv::waitKey(1);
if (c == 's')
{

}
else if (c == 'q')
break;
}

return EXIT_SUCCESS;

}

来源：https://github.com/IntelRealSense/librealsense/issues/1140#issue-295126900

https://github.com/IntelRealSense/librealsense/wiki/API-How-To#start-streaming-with-default-configuration