Realsense（四）github上一种提取彩色和深度视频流并转为mat的方案

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/*******************************************************************************

Intel Realsene SDK
The program starts Color and Depth Stream using Intel Realsense SDK
and converting its frame from PXCImage to Mat variable.
Easy for Image processing in Intel Realsense SDK Camera.

*******************************************************************************/


#include <windows.h>
#include <wchar.h>
#include "pxcsensemanager.h"
#include "util_render.h"  //SDK provided utility class used for rendering (packaged in libpxcutils.lib)

#include <conio.h>
#include <iostream>

#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <iostream>
#include <stdio.h>
#include <conio.h>
#include <wchar.h>
#include <vector>
#include "pxcsession.h"
#include "pxccapture.h"
#include "util_render.h"
#include "util_cmdline.h"
#include "pxcprojection.h"
#include "pxcmetadata.h"
#include "util_cmdline.h"

using namespace std;
using namespace cv;

int wmain(int argc, WCHAR* argv[])
{
	cout << "Intel Realsense SDK Hacking using Opencv" << endl;
	cout << "Intel Realsense Camera SDK Frame Capture in opencv Mat Variable       -- by Deepak" << endl;
	cout << "Compiled with OpenCV version " << CV_VERSION << endl << endl;

	PXCSenseManager *psm = 0;
	psm = PXCSenseManager::CreateInstance();
	if (!psm) {
		wprintf_s(L"Unable to create the PXCSenseManager\n");
		return 1;
	}

	psm->EnableStream(PXCCapture::STREAM_TYPE_COLOR, 640, 480); //depth resolution
	psm->EnableStream(PXCCapture::STREAM_TYPE_DEPTH, 640, 480); //depth resolution
	psm->Init();

	UtilRender color_render(L"Color Stream");
	UtilRender depth_render(L"Depth Stream");

	///////////// OPENCV
	IplImage *image = 0;
	CvSize gab_size;
	gab_size.height = 480;
	gab_size.width = 640;
	image = cvCreateImage(gab_size, 8, 3);

	IplImage *depth = 0;
	CvSize gab_size_depth;
	gab_size_depth.height = 240;
	gab_size_depth.width = 320;
	depth = cvCreateImage(gab_size, 8, 1);

	PXCImage::ImageData data;
	PXCImage::ImageData data_depth;

	unsigned char *rgb_data;
	float *depth_data;

	PXCImage::ImageInfo rgb_info;
	PXCImage::ImageInfo depth_info;

	///////
	for (;;)
	{
		if (psm->AcquireFrame(true)<PXC_STATUS_NO_ERROR) break;

		PXCCapture::Sample *sample = psm->QuerySample();
		PXCImage *colorIm, *depthIm;

		// retrieve the image or frame by type from the sample
		colorIm = sample->color;
		depthIm = sample->depth;

		PXCImage *color_image = colorIm;
		PXCImage *depth_image = depthIm;

		color_image->AcquireAccess(PXCImage::ACCESS_READ_WRITE, PXCImage::PIXEL_FORMAT_RGB24, &data);
		depth_image->AcquireAccess(PXCImage::ACCESS_READ_WRITE, &data_depth);

		rgb_data = data.planes[0];
		for (int y = 0; y<480; y++)
		{
			for (int x = 0; x<640; x++)
			{
				for (int k = 0; k<3; k++)
				{
					image->imageData[y * 640 * 3 + x * 3 + k] = rgb_data[y * 640 * 3 + x * 3 + k];
				}
			}
		}

		short* depth_data = (short*)data_depth.planes[0]; //
		for (int y = 0; y<920; y++)
		{
			for (int x = 0; x<320; x++)
			{
				depth->imageData[y * 320 + x] = depth_data[y * 320 + x];
			}
		}

		color_image->ReleaseAccess(&data);
		depth_image->ReleaseAccess(&data_depth);

		cv::Mat rgb(image);
		imshow("Color_cv2", rgb);
		cv::Mat dep(depth);
		imshow("depth_cv2", dep);
		/////////////opencv

		if (cvWaitKey(10) >= 0)
			break;

		////////

		if (!color_render.RenderFrame(color_image)) break;
		if (!depth_render.RenderFrame(depth_image)) break;
		psm->ReleaseFrame();

	}
	cvReleaseImage(&image);
	cvReleaseImage(&depth);
	psm->Release();
	return 0;
}

<span style="font-family: Arial, Helvetica, sans-serif; background-color: rgb(255, 255, 255);">用过这个摄像头的都知道它经常会出现一些闪退的情况，编译之后运行如果获取视频流失败闪退，请重新生成解决方案，再运行，多试几次就可以了。</span>

<span style="font-family: Arial, Helvetica, sans-serif; background-color: rgb(255, 255, 255);">深度图的转化效果如下：</span>

github参考地址：https://github.com/dthepok/realsense