本博客适用于SR300和R200的深度图像和RGB图像的提取。
OpenCV的安装
首先要安装opencv，在这里不做多讲，网上有很多教程.
SDK的安装
Realsense SR300 和 R200 使用的SDK版本是相同的，都是2016 R2(版本很重要)，我使用的VS版本是2015.
提取深度图的程序代码
下面为提取深度图像的代码.
#include <pxcsensemanager.h> #include <pxcsession.h> #include "util_render.h" #include <iostream> #include <string> #include <stdio.h> #include <opencv2opencv.hpp>#define WIDTH 640 //SR300和R200的这两个值是不同的，此处的值是R200#define HEIGHT 480 using namespace cv;using namespace std;int main(int argc, char** argv){UtilRender *renderColor = new UtilRender(L"COLOR_STREAM");UtilRender *renderDepth = new UtilRender(L"DEPTH_STREAM");PXCSenseManager *psm = 0;psm = PXCSenseManager::CreateInstance();if (!psm){wprintf_s(L"Unabel to create the PXCSenseManagern");return 1;}pxcStatus sts;psm->EnableStream(PXCCapture::STREAM_TYPE_COLOR, WIDTH, HEIGHT);psm->EnableStream(PXCCapture::STREAM_TYPE_DEPTH, WIDTH, HEIGHT);sts = psm->Init();if (sts != PXC_STATUS_NO_ERROR){wprintf_s(L"Unabel to Initializes the pipelinen");return 2;}PXCImage *colorIm, *depthIm;PXCImage::ImageData depth_data, color_data;PXCImage::ImageInfo depth_info, color_info;for (int cframe = 0; cframe < 1000; cframe++){if (psm->AcquireFrame(true) < PXC_STATUS_NO_ERROR) break;PXCCapture::Sample *sample = psm->QuerySample();colorIm = sample->color;depthIm = sample->depth;if (colorIm->AcquireAccess(PXCImage::ACCESS_READ, PXCImage::PIXEL_FORMAT_RGB24, &color_data) < PXC_STATUS_NO_ERROR)wprintf_s(L"Color maps are not acquired normally.n");if (depthIm->AcquireAccess(PXCImage::ACCESS_READ, &depth_data) < PXC_STATUS_NO_ERROR)wprintf_s(L"Depth maps are not acquired normally.n");depth_info = sample->depth->QueryInfo();color_info = sample->color->QueryInfo();Mat depth(Size(depth_info.width, depth_info.height), CV_16UC1, (void*)depth_data.planes[0], depth_data.pitches[0] / sizeof(uchar));Mat color(Size(color_info.width, color_info.height), CV_8UC3, (void*)color_data.planes[0], color_data.pitches[0] / sizeof(uchar));if (!renderColor->RenderFrame(colorIm)) break;if (!renderDepth->RenderFrame(depthIm)) break;psm->ReleaseFrame();stringstream ss;string str;ss << (cframe);str = ss.str();vector<int> compressiong_params;compressiong_params.push_back(CV_IMWRITE_PNG_COMPRESSION);compressiong_params.push_back(0);imwrite("Your path" + str + ".color.jpg", color, compressiong_params);imwrite("Your path" + str + ".depth.png", depth * 15, compressiong_params);}psm->Release();}
参考于SCUT_Arucee大神
用VS2015打开上面代码，然后在属性里面将OpenCV目录和SDK的包含目录和库目录添加，运行之后就可以得到相应的扫描的情况。并且在我们设定的path下得到保存的RGB图像和Depth图像。
