realsense D435学习(一)： 读取彩色图像和深度图像

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.h
#ifndef D435CAMERA_H
#define D435CAMERA_H

#include <iostream>
#include <opencv2/opencv.hpp>
#include <boost/thread.hpp>
#include <librealsense2/rs.hpp>

using namespace std;
using namespace cv;

class D435Camera
{
public:
    D435Camera();

    void start();

    Mat readColorCamera();

    Mat readDepthCamera();

    void stop();

private:
    Mat frame_to_mat(const rs2::frame& f);

    rs2::config cfg;
    rs2::pipeline pipe;
    rs2::frameset frame;
    rs2_intrinsics depth_intrinsics; //深度摄像头内参
    rs2_intrinsics color_intrinsics; //彩色摄像头内参
};

#endif // D435CAMERA_H

.cpp
#include "d435camera.h"

D435Camera::D435Camera()
{

}

void D435Camera::start()
{
    //读取设备型号和序列号
    rs2::context ctx;
    auto devicelist = ctx.query_devices();
    rs2::device dev = *devicelist.begin(); // 单个设备
    cout << "RS2_CAMERA_NAME： " << dev.get_info(RS2_CAMERA_INFO_NAME) << endl;
    cout << "RS2_CAMERA_SERIAL_NUMBER： " << dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER) << endl;
    cout << "RS2_FIRMWARE_VERSION： " << dev.get_info(RS2_CAMERA_INFO_RECOMMENDED_FIRMWARE_VERSION) << endl;
    //摄像头工作模式设置
    cfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8, 30);
    cfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);
    //启动设备
    rs2::pipeline_profile profile = pipe.start(cfg);
    //声明数据流
    auto _stream_depth = profile.get_stream(RS2_STREAM_DEPTH).as<rs2::video_stream_profile>();
    auto _stream_color = profile.get_stream(RS2_STREAM_COLOR).as<rs2::video_stream_profile>();
    //获得摄像头内参
    depth_intrinsics = _stream_depth.get_intrinsics();
    color_intrinsics = _stream_color.get_intrinsics();
    //打印内参
    char str[124] = {0};
    snprintf(str, 124, "%d_%d_%f_%f_%f_%f_%d_%f_%f_%f_%f_%f",
             depth_intrinsics.width, depth_intrinsics.height, depth_intrinsics.ppx, depth_intrinsics.ppy,
             depth_intrinsics.fx, depth_intrinsics.fy, depth_intrinsics.model, depth_intrinsics.coeffs[0],
             depth_intrinsics.coeffs[1],depth_intrinsics.coeffs[2],depth_intrinsics.coeffs[3],depth_intrinsics.coeffs[4]);
    printf("depth intrinsics: %s:%d\n", str, strlen(str));
    memset(str, 0x00, 124);
    snprintf(str, 124, "%d_%d_%f_%f_%f_%f_%d_%f_%f_%f_%f_%f",
             color_intrinsics.width, color_intrinsics.height, color_intrinsics.ppx, color_intrinsics.ppy,
             color_intrinsics.fx, color_intrinsics.fy, color_intrinsics.model, color_intrinsics.coeffs[0],
             color_intrinsics.coeffs[1],color_intrinsics.coeffs[2],color_intrinsics.coeffs[3],color_intrinsics.coeffs[4]);
    printf("color intrinsics: %s:%d\n", str, strlen(str));

    //丢掉前几帧
    for (int i = 0; i<10; i++)
        pipe.wait_for_frames();
}

Mat D435Camera::readColorCamera()
{
    frame = pipe.wait_for_frames();

    auto color_frame = frame.get_color_frame();

    Mat color = frame_to_mat(color_frame);

//    imwrite("./D435rgb.png", color);

    return color;
}

Mat D435Camera::readDepthCamera()
{
    frame = pipe.wait_for_frames();

    auto depth_frame = frame.get_depth_frame();

    Mat depth = frame_to_mat(depth_frame);

//    imwrite("./D435depth.png", depth);

    return depth;
}

void D435Camera::stop()
{
    pipe.stop();
}

Mat D435Camera::frame_to_mat(const rs2::frame &f)
{
    auto vf = f.as<rs2::video_frame>();
    const int w = vf.get_width();
    const int h = vf.get_height();

    if (f.get_profile().format() == RS2_FORMAT_BGR8)
    {
        return Mat(Size(w, h), CV_8UC3, (void*)f.get_data(), Mat::AUTO_STEP);
    }
    else if (f.get_profile().format() == RS2_FORMAT_RGB8)
    {
        auto r = Mat(Size(w, h), CV_8UC3, (void*)f.get_data(), Mat::AUTO_STEP);
        cvtColor(r, r, CV_RGB2BGR);
        return r;
    }
    else if (f.get_profile().format() == RS2_FORMAT_Z16)
    {
        return Mat(Size(w, h), CV_16UC1, (void*)f.get_data(), Mat::AUTO_STEP);
    }
    else if (f.get_profile().format() == RS2_FORMAT_Y8)
    {
        return Mat(Size(w, h), CV_8UC1, (void*)f.get_data(), Mat::AUTO_STEP);
    }

    throw std::runtime_error("Frame format is not supported yet!");
}

main.cpp
#include <iostream>
#include <unistd.h>
#include "d435camera.h"

using namespace std;

int main()
{
    cout << "Hello World!" << endl;

    D435Camera d435Camera;
    d435Camera.start();


    while (true) {

        Mat color = d435Camera.readColorCamera();
        Mat depth = d435Camera.readDepthCamera();

        imshow("D435Color", color);
        imshow("D435Depth", depth);

        waitKey(30);
    }

    d435Camera.stop();

    return 0;
}