深度攝影機realsense簡易opencv C++去背

 

C++程式如下：

#include <librealsense2/rs.hpp> 
#include <opencv2/opencv.hpp> 
#include <iostream>
using namespace rs2;
using namespace cv;
using namespace std;

int main(int argc, char* argv[]) 
try
{
    cout << "顯示color_grab, depth影格，加上對齊修正align。\n";
    colorizer color_map(3);
    /*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;
    rs2::align align2color(RS2_STREAM_COLOR);
    config cfg;
    int w = 1280, h = 720, FPS = 30; 
    cfg.enable_stream(RS2_STREAM_COLOR, w, h, RS2_FORMAT_BGR8, FPS);
    cfg.enable_stream(RS2_STREAM_DEPTH, w, h, RS2_FORMAT_Z16, FPS);  
    auto profile = pipe.start(cfg);

    // Camera warmup 
    frameset data= pipe.wait_for_frames();   
    hole_filling_filter holeFilter;//補洞filter
    while (1)
    {
        frameset data = pipe.wait_for_frames(); // Wait for next set of frames from the camera
       
        data = align2color.process(data);
        data.apply_filter(holeFilter);//補洞
        frame color = data.get_color_frame();
      
        frame depth = data.get_depth_frame().apply_filter(color_map);

        // Create OpenCV matrix of size (w,h) from the colorized depth data
        Mat color_im(h, w, CV_8UC3, (void*)color.get_data());
        Mat depth_im(h, w, CV_8UC3, (void*)depth.get_data());
 
        GaussianBlur(depth_im, depth_im, Size(3, 3), 3, 3);
        dilate(depth_im, depth_im, 1);//擴張
        erode(depth_im, depth_im, 1);//侵蝕
       
        Mat depth2;
        threshold(depth_im, depth2, 120, 255, THRESH_BINARY);
        color_im = color_im | depth2 ;

        // Update the window with new data
        imshow("color_grab", color_im);
        imshow("depth", depth_im);

        if (waitKey(1)>0)break;
    }
    destroyAllWindows();
    pipe.stop();
    return 0;
}
catch (exception& e) {
    cerr << e.what();
    return 1;
}