用intel realsense2顯示depth, ir影格

 intel realsense2顯示depth, ir影格。參閱realsense2 SDK所附範例與intel網站https://dev.intelrealsense.com/docs/api-how-to。顯影部份採openCV，C++程式碼如下：(深度資訊來自ir的資訊，intel 的深度攝影機D435有左右ir顯影，有視角差，可修改程式兩個畫面同時呈現)

#include <librealsense2/rs.hpp> 
#include <opencv2/opencv.hpp>  
using namespace rs2;
using namespace cv;
using namespace std;
 
int main(int argc, char** argv) try
{
    cout << "顯示depth, ir影格。\n";
    colorizer color_map(0);
    /*著色的代碼如下
     0 - Jet
     1 - Classic
     2 - WhiteToBlack
     3 - BlackToWhite
     4 - Bio
     5 - Cold
     6 - Warm
     7 - Quantized
     8 - Pattern
     9 - Hue
    */
    pipeline pipe;
    config cfg;
    int w = 640, h = 360, FPS = 30;   
    cfg.enable_stream(RS2_STREAM_INFRARED, w, h, RS2_FORMAT_Y8, FPS);
    cfg.enable_stream(RS2_STREAM_DEPTH, w, h, RS2_FORMAT_Z16, FPS);  
    pipe.start(cfg);
   
    // Camera warmup - dropping several first frames to let auto-exposure stabilize
    frameset data;
    for (int i = 0; i < FPS; i++) data = pipe.wait_for_frames();
    while (1)
    {
        frameset data = pipe.wait_for_frames(); // Wait for next set of frames from the camera
     
        frame depth = data.get_depth_frame().apply_filter(color_map);
        frame ir = data.get_infrared_frame() ;
        int i = ir.get_frame_number();
 
        // Create OpenCV matrix of size (w,h) from the data
        Mat depth_im(h, w, CV_8UC3, (void*)depth.get_data());
        Mat ir_im(h, w, CV_8UC1, (void*)ir.get_data());
 
        applyColorMap(ir_im, ir_im, COLORMAP_JET);
  
        // Update the window with new data
        setWindowTitle("depth", "depth" + to_string(i));
        setWindowTitle("ir", "ir" + to_string(i));
        imshow("depth", depth_im);
        imshow("ir", ir_im);
 
        int k = waitKey(1);     
         if (k >0) break;
    }
    cv::destroyAllWindows();
    pipe.stop();
 
    return 0;
}
catch (exception& e) {
    cerr << e.what();
    return 1;
}