RealSense(2)——rs-capture Sample

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Github项目网址：
https://github.com/IntelRealSense/librealsense/tree/master/examples

1.环境配置：

（1）在项目属性管理器中加入C:\Program Files (x86)\Intel RealSense SDK 2.0
目录下的intel.realsense.props文件
如下图：

（2）为引用头文件example.hpp，在项目-属性-VC++目录-包含目录中加入
C:\Program Files (x86)\Intel RealSense SDK 2.0\samples
或者，直接在头文件添加现有项example.hpp即可

2.代码如下：

#include "stdafx.h"
#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
#include "example.hpp"          // Include short list of convenience functions for rendering

// Capture Example demonstrates how to
// capture depth and color video streams and render them to the screen
int main(int argc, char * argv[]) try
{
    rs2::log_to_console(RS2_LOG_SEVERITY_ERROR);
    // Create a simple OpenGL window for rendering:
    window app(1280, 720, "RealSense Capture Example");
    // Declare two textures on the GPU, one for color and one for depth
    texture depth_image, color_image;

    // Declare depth colorizer for pretty visualization of depth data
    //声明深度着色器，以增强深度数据的颜色可视化
    rs2::colorizer color_map;

    // Declare RealSense pipeline, encapsulating（封装） the actual device and sensors
    rs2::pipeline pipe;
    // Start streaming with default recommended configuration
    pipe.start();

    while (app) // Application still alive?
    {
        rs2::frameset data = pipe.wait_for_frames(); // Wait for next set of frames from the camera

         // Find and colorize the depth data查找深度数据并给其上色
        rs2::frame depth = color_map(data.get_depth_frame());
        rs2::frame color = data.get_color_frame();            // Find the color data

                                                              // For cameras that don't have RGB sensor, we'll render infrared frames instead of color
        if (!color)
            color = data.get_infrared_frame();

        // Render depth on to the first half of the screen and color on to the second
        depth_image.render(depth, { 0,               0, app.width() / 2, app.height() });
        color_image.render(color, { app.width() / 2, 0, app.width() / 2, app.height() });
    }

    return EXIT_SUCCESS;
}
catch (const rs2::error & e)
{
    std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n    " << e.what() << std::endl;
    return EXIT_FAILURE;
}
catch (const std::exception& e)
{
    std::cerr << e.what() << std::endl;
    return EXIT_FAILURE;
}

3.注意：调试过程中，example.hpp文件会出现如下报错“

error C2664：“HWND CreateWindowExW
(DWORD,LPCWSTR,LPCWSTR,DWORD,int,int,int,int,HWND,HMENU,HINSTANCE,LPVOID)”: 
无法将参数3从“const char”转换为“LPCWSTR”

解决办法：将项目使用的字符集从unicode改成多字节。