环境搭建相关的参考资料挺多的，这里就不多说了。这里记一些相关的api。
Table of Contents
0. 查看相机信息。
~$ rs-sensor-control。然后照着对应提示信息输入即可。
1. 设置分辨率。
彩色相机支持的分辨率挺多的，但是深度相机最多支持640*480。可以通过对其操作，将深度图自动上采样到其他分辨率(比如1080p)，这些在api中都已经自动完成。
rs2::config cfg;
//cfg.enable_stream(RS2_STREAM_COLOR, 1920, 1080, RS2_FORMAT_BGR8, 10);
cfg.enable_stream(RS2_STREAM_COLOR, 1280, 720, RS2_FORMAT_BGR8, 30);
cfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);tips：在使用1080p时，经常会出现 didn`t arrived in 5000的错误，这是数据量传输过大，延迟所导致的error。目前一些有效的解决方案：
①使用3.0的usb接口。
②将帧率调小到10。
2. 获取相机depthScale
auto scale = sensor.get_depth_scale();3. 将彩色图像和深度图像对齐
默认状态下获取的图像是没有对齐的，存在一定偏差。api中可以直接获取到对齐的图像信息。
rs2::frameset data = pipe.wait_for_frames(); // Wait for next set of frames from the camera
rs2::align align(rs2_stream::RS2_STREAM_COLOR); // align depth and rgb image
rs2::frameset aligned_frm = align.process(data); // aligned depth to rgb
rs2::frame color = aligned_frm.get_color_frame();
rs2::frame depth = aligned_frm.get_depth_frame();4. 设置sr300相机的远近模式。
sensor.set_option(RS2_OPTION_VISUAL_PRESET, 0); //默认0，近距离；1为远距离；还有一些其他的，可以参考sdk5. 获取相机内参
rs2::frame color = aligned_frm.get_color_frame();
rs2::stream_profile cprofile = color.get_profile();
rs2::video_stream_profile cvsprofile(cprofile);
rs2_intrinsics color_intrin = cvsprofile.get_intrinsics();
std::cout<<"\ncolor intrinsics: ";
std::cout<<color_intrin.width<<" "<<color_intrin.height<<" ";
std::cout<<color_intrin.ppx<<" "<<color_intrin.ppy<<" ";
std::cout<<color_intrin.fx<<" "<<color_intrin.fy<<std::endl;ok。后续待更新
测试程序
下面直接放一个可以直接跑起来的测试程序：
环境：librealsense, opencv(任意版本)
// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
#include <opencv2/opencv.hpp> // Include OpenCV API
#include <string>
#include <iostream>
using namespace std;
int main(int argc, char * argv[]) try
{
unsigned int count = 0;
unsigned int flag =0;
// Declare depth colorizer for pretty visualization of depth data
rs2::colorizer color_map;
// Declare RealSense pipeline, encapsulating the actual device and sensors
rs2::pipeline pipe;
// Start streaming with default recommended configuration
rs2::config cfg;
//cfg.enable_stream(RS2_STREAM_COLOR, 1920, 1080, RS2_FORMAT_BGR8, 30);
cfg.enable_stream(RS2_STREAM_COLOR, 1280, 720, RS2_FORMAT_BGR8, 30);
cfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);
rs2::pipeline_profile selection = pipe.start(cfg);
// Find first depth sensor (devices can have zero or more then one)
auto sensor = selection.get_device().first<rs2::depth_sensor>();
//sensor.set_option(RS2_OPTION_DEPTH_UNITS, 0.01f);
auto scale = sensor.get_depth_scale();
cout<<"scale: "<<scale<<endl;
using namespace cv;
const auto window_name = "Display Image";
namedWindow(window_name, WINDOW_AUTOSIZE);
while (waitKey(1) < 0 && cvGetWindowHandle(window_name))
{
rs2::frameset data = pipe.wait_for_frames(); // Wait for next set of frames from the camera
rs2::align align(rs2_stream::RS2_STREAM_COLOR); // align depth and rgb image
rs2::frameset aligned_frm = align.process(data); // aligned depth to rgb
rs2::frame color = aligned_frm.get_color_frame();
rs2::frame depth = aligned_frm.get_depth_frame();
// Query frame size (width and height)
const int w = color.as<rs2::video_frame>().get_width();
const int h = color.as<rs2::video_frame>().get_height();
// Create OpenCV matrix of size (w,h) from the colorized depth data
Mat image(Size(w, h), CV_8UC3, (void*)color.get_data(), Mat::AUTO_STEP);
Mat imageD(Size(w, h), CV_16UC1, (void*)depth.get_data(), Mat::AUTO_STEP);
// Update the window with new data
imshow(window_name, image);
imshow("1", imageD);
if(cv::waitKey(30) == 's'){
/*string RGBname = "data//img"+to_string(count)+".png";
string depthName = "data//depth"+to_string(count++)+".png";
imwrite(RGBname,image);
imwrite(depthName,imageD);*/
imwrite("color.jpg",image);
imwrite("depth.png",imageD);
}
flag++;
}
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;
}
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