[人工智能]opencv realsense 显示深度图

#include <iostream>
#include<stdlib.h>
#include<stdio.h>
#include<string>
using namespace std;

#include<opencv2/imgproc/imgproc.hpp>
#include<opencv2/core/core.hpp>
#include<opencv2/highgui/highgui.hpp>
using namespace cv;
#include<librealsense2/rs.hpp>

//如果移动文件位置到新文件夹，直接报错
//报错内容为找不到导入的项目glfw-imgui.props。请确认（路径）import声明中的表达式正确，且文件位于磁盘上
int main() try
{
    //声明彩色图
    rs2::colorizer color_map;

    //声明realsense管道，
    rs2::pipeline pipe;

    //数据流配置信息【这步其实很重要】
    rs2::config pipe_config;
    pipe_config.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);
    pipe_config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8, 30);

    //开始传送数据流
    rs2::pipeline_profile profile = pipe.start(pipe_config);

    const char* depth_win = "depth_Image";
    namedWindow(depth_win, WINDOW_AUTOSIZE);
    const char* color_win = "color_Image";
    namedWindow(color_win, WINDOW_AUTOSIZE);

    //    //获取深度像素与长度单位的关系
    //    float depth_scale = get_depth_scale(profile.get_device());
    //    rs2_stream align_to = find_stream_to_align(profile.get_streams());

    while (waitKey(1) && cvGetWindowHandle(depth_win)) {
        rs2::frameset data = pipe.wait_for_frames();//等待下一帧
        rs2::frame depth = data.get_depth_frame().apply_filter(color_map);//获取深度图，加颜色滤镜
        rs2::frame color = data.get_color_frame();

        //获取宽高
        const int depth_w = depth.as<rs2::video_frame>().get_width();
        const int depth_h = depth.as<rs2::video_frame>().get_height();
        const int color_w = color.as<rs2::video_frame>().get_width();
        const int color_h = color.as<rs2::video_frame>().get_height();

        //创建OPENCV类型 并传入数据
        Mat depth_image(Size(depth_w, depth_h), CV_8UC3, (void*)depth.get_data(), Mat::AUTO_STEP);
        Mat color_image(Size(color_w, color_h), CV_8UC3, (void*)color.get_data(), Mat::AUTO_STEP);
        //显示
        imshow(depth_win, depth_image);
        imshow(color_win, color_image);
    }
    return EXIT_SUCCESS;
}
catch (const rs2::error& e) {
    std::cout << "RealSense error calling" << e.get_failed_function() << "(" << e.get_failed_args() << "):\n"
        << e.what() << endl;
    return EXIT_FAILURE;
}
catch (const std::exception& e) {
    std::cout << e.what() << endl;
    return EXIT_FAILURE;
}