RealSense：获取左右相机_d415深度相机分别读取左右相机图像

Code

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

#include <opencv2/opencv.hpp>

int main(int argc, char * argv[])
{
	int width = 1280;
	int height = 720;
	int fps = 30;
	rs2::config config;
	config.enable_stream(RS2_STREAM_INFRARED, 1, width, height, RS2_FORMAT_Y8, fps);
	config.enable_stream(RS2_STREAM_INFRARED, 2, width, height, RS2_FORMAT_Y8, fps);

	// start pipeline
	rs2::pipeline pipeline;
	rs2::pipeline_profile pipeline_profile = pipeline.start(config);

	rs2::device selected_device = pipeline_profile.get_device();
	auto depth_sensor = selected_device.first<rs2::depth_sensor>();

	if (depth_sensor.supports(RS2_OPTION_EMITTER_ENABLED))
	{
		// depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED, 1.f); // Enable emitter
		depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED, 0.f); // Disable emitter
	}

	auto ir1_stream = pipeline_profile.get_stream(RS2_STREAM_INFRARED, 1);
	auto ir2_stream = pipeline_profile.get_stream(RS2_STREAM_INFRARED, 2);

	rs2_intrinsics intrinsics_1 = ir1_stream.as<rs2::video_stream_profile>().get_intrinsics();
	rs2_intrinsics intrinsics_2 = ir2_stream.as<rs2::video_stream_profile>().get_intrinsics();

	std::cout<<intrinsics_1.fx<<std::endl;

	rs2_extrinsics e = ir1_stream.get_extrinsics_to(ir2_stream);
	auto baseline = e.translation[0];

	int count = 0;
	while (1) // Application still alive?
	{
		// wait for frames and get frameset
		rs2::frameset frameset = pipeline.wait_for_frames();

		// get single infrared frame from frameset
		//rs2::video_frame ir_frame = frameset.get_infrared_frame();

		// get left and right infrared frames from frameset
		rs2::video_frame ir_frame_left = frameset.get_infrared_frame(1);
		rs2::video_frame ir_frame_right = frameset.get_infrared_frame(2);


		cv::Mat dMat_left = cv::Mat(cv::Size(width, height), CV_8UC1, (void*)ir_frame_left.get_data());
		cv::Mat dMat_right = cv::Mat(cv::Size(width, height), CV_8UC1, (void*)ir_frame_right.get_data());

		cv::imshow("img_l", dMat_left);
		cv::imshow("img_r", dMat_right);
		char c = cv::waitKey(30);
		cv::imwrite("/media/yqs/_dde_data/dataset/l/"+std::to_string(count)+".png",dMat_left);
		cv::imwrite("/media/yqs/_dde_data/dataset/r/"+std::to_string(count)+".png",dMat_right);
		count++;
	}

	return EXIT_SUCCESS;
}
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65

参考

https://github.com/IntelRealSense/librealsense/wiki/API-How-To
https://github.com/IntelRealSense/librealsense/issues/1140