Realsense 提取彩色和深度视频流

一、简要介绍

关于realsense的介绍，网上很多，这里不再赘述，sdk及相关文档可参考realsense SDK，也可参考开发人员专区。

运行代码之前，要确保你已经安装好了realsense的DCM和SDK，官网有教程，具体请参考DCM和SDK安装步骤。

二、代码

1. #include <pxcsensemanager.h>
2. #include <pxcsession.h>
3. #include "util_render.h"
4. #include <iostream>
5. #include <string>
6. #include <stdio.h>
7. #include <opencv2\opencv.hpp>
8. #include <windows.h>
9. #define WIDTH 640
10. #define HEIGHT 480
11. using namespace cv;
12. using namespace std;
13. int main(int argc, char** argv)
14. {
15. UtilRender *renderColor = new UtilRender(L"COLOR_STREAM");
16. UtilRender *renderDepth = new UtilRender(L"DEPTH_STREAM");
17. PXCSenseManager *psm = 0;
18. psm = PXCSenseManager::CreateInstance();
19. if (!psm)
20. {
21. wprintf_s(L"Unabel to create the PXCSenseManager\n");
22. return 1;
23. }
24. pxcStatus sts;
25. psm->EnableStream(PXCCapture::STREAM_TYPE_COLOR, WIDTH, HEIGHT);
26. psm->EnableStream(PXCCapture::STREAM_TYPE_DEPTH, WIDTH, HEIGHT);
27. sts = psm->Init();
28. if (sts != PXC_STATUS_NO_ERROR)
29. {
30. wprintf_s(L"Unabel to Initializes the pipeline\n");
31. return 2;
32. }
33. PXCImage *colorIm, *depthIm;
34. PXCImage::ImageData depth_data,color_data;
35. PXCImage::ImageInfo depth_info,color_info;
36. while (psm->AcquireFrame(true) >= PXC_STATUS_NO_ERROR)
37. {
38. if (psm->AcquireFrame(true) < PXC_STATUS_NO_ERROR) break;
39. PXCCapture::Sample *sample = psm->QuerySample();
40. colorIm = sample->color;
41. depthIm = sample->depth;
42. if (colorIm->AcquireAccess(PXCImage::ACCESS_READ, PXCImage::PIXEL_FORMAT_RGB24, &color_data) < PXC_STATUS_NO_ERROR)
43. wprintf_s(L"未正常获取彩色图\n");
44. if (depthIm->AcquireAccess(PXCImage::ACCESS_READ, &depth_data) < PXC_STATUS_NO_ERROR)
45. wprintf_s(L"未正常获取深度图\n");
46. depth_info = sample->depth->QueryInfo();
47. color_info = sample->color->QueryInfo();
48. Mat depth(Size(depth_info.width, depth_info.height), CV_16UC1, (void*)depth_data.planes[0], depth_data.pitches[0] / sizeof(uchar));
49. Mat color(Size(color_info.width, color_info.height), CV_8UC3, (void*)color_data.planes[0], color_data.pitches[0] / sizeof(uchar));
50. depthIm->ReleaseAccess(&depth_data);
51. colorIm->ReleaseAccess(&color_data);
52. if (!renderColor->RenderFrame(colorIm)) break;
53. if (!renderDepth->RenderFrame(depthIm)) break;
54. psm->ReleaseFrame();
55. imshow("color", color);
56. waitKey(1);
57. //CV_16UC1的图片在imshow时会除以256，将最远探测距离设为z，那么imshow时可以乘以255*256/z,此处乘以15
58. imshow("depth", depth * 15);
59. waitKey(1);
60. }
61. psm->Release();
62. system("pause");
63. }

#include <pxcsensemanager.h>
#include <pxcsession.h>
#include "util_render.h"
#include <iostream>
#include <string>
#include <stdio.h>
#include <opencv2\opencv.hpp>
#include <windows.h>

#define WIDTH 640
#define HEIGHT 480  

using namespace cv;
using namespace std;

int main(int argc, char** argv)
{
	UtilRender *renderColor = new UtilRender(L"COLOR_STREAM");
	UtilRender *renderDepth = new UtilRender(L"DEPTH_STREAM");

	PXCSenseManager *psm = 0;
	psm = PXCSenseManager::CreateInstance();
	if (!psm)
	{
		wprintf_s(L"Unabel to create the PXCSenseManager\n");
		return 1;
	}
	pxcStatus sts;

	psm->EnableStream(PXCCapture::STREAM_TYPE_COLOR, WIDTH, HEIGHT);

	psm->EnableStream(PXCCapture::STREAM_TYPE_DEPTH, WIDTH, HEIGHT);

	sts = psm->Init();
	if (sts != PXC_STATUS_NO_ERROR)
	{
		wprintf_s(L"Unabel to Initializes the pipeline\n");
		return 2;
	}

	PXCImage *colorIm, *depthIm;
	PXCImage::ImageData depth_data,color_data;
	PXCImage::ImageInfo depth_info,color_info;
	while (psm->AcquireFrame(true) >= PXC_STATUS_NO_ERROR)

	{
		if (psm->AcquireFrame(true) < PXC_STATUS_NO_ERROR) break;

		PXCCapture::Sample *sample = psm->QuerySample();

		colorIm = sample->color;
		depthIm = sample->depth;

		if (colorIm->AcquireAccess(PXCImage::ACCESS_READ, PXCImage::PIXEL_FORMAT_RGB24, &color_data) < PXC_STATUS_NO_ERROR)
			wprintf_s(L"未正常获取彩色图\n");
		if (depthIm->AcquireAccess(PXCImage::ACCESS_READ, &depth_data) < PXC_STATUS_NO_ERROR)
			wprintf_s(L"未正常获取深度图\n");

		depth_info = sample->depth->QueryInfo();
		color_info = sample->color->QueryInfo();

		Mat depth(Size(depth_info.width, depth_info.height), CV_16UC1, (void*)depth_data.planes[0], depth_data.pitches[0] / sizeof(uchar));
		Mat color(Size(color_info.width, color_info.height), CV_8UC3, (void*)color_data.planes[0], color_data.pitches[0] / sizeof(uchar));

		depthIm->ReleaseAccess(&depth_data);
		colorIm->ReleaseAccess(&color_data);

		if (!renderColor->RenderFrame(colorIm)) break;
		if (!renderDepth->RenderFrame(depthIm)) break;

		psm->ReleaseFrame();

		imshow("color", color);
		waitKey(1);
		//CV_16UC1的图片在imshow时会除以256，将最远探测距离设为z，那么imshow时可以乘以255*256/z,此处乘以15
		imshow("depth", depth * 15);
		waitKey(1);

	}
	psm->Release();
	system("pause");
}

三、相关解释

新建项目，写入源代码，生成解决方案之前，记得要在项目的属性管理器右键项目，选择添加现有属性表，选择C:\Program Files (x86)\Intel\RSSDK\props目录下的一个官方配置好的属性表（前提是DCM和SDK的安装路径是默认路径，没有自行修改）；另外因为我们还要进行cv::Mat类型的转化，所以也要导入opencv的属性表。

运行之后，可以看到4个窗口，COLOR_STREAM和DEPTH_STREAM为分别realsense提取到的彩色视频流和深度视频流；color和depth分别为我们转化为opencv中mat类型之后的彩色和深度视频流。

目前实现pxcimage到mat类型转化的方法有好几种，大体类似，主要是对PXCImage::ImageData中的plane和pitch的理解，博主理解为plane[0]为该sdk中图片数据的首地址，pitches可参考http://www.cnblogs.com/gamedes/p/4541765.html。

也看到论坛上有人专门写过pxcimage到mat类型的转化函数，函数代码如下：

1. void ConvertPXCImageToOpenCVMat(PXCImage *inImg, Mat *outImg) {
2. int cvDataType;
3. int cvDataWidth;
4. PXCImage::ImageData data;
5. inImg->AcquireAccess(PXCImage::ACCESS_READ, &data);
6. PXCImage::ImageInfo imgInfo = inImg->QueryInfo();
7. switch (data.format) {
8. /* STREAM_TYPE_COLOR */
9. case PXCImage::PIXEL_FORMAT_YUY2: /* YUY2 image  */
10. case PXCImage::PIXEL_FORMAT_NV12: /* NV12 image */
11. throw(0); // Not implemented
12. case PXCImage::PIXEL_FORMAT_RGB32: /* BGRA layout on a little-endian machine */
13. cvDataType = CV_8UC4;
14. cvDataWidth = 4;
15. break;
16. case PXCImage::PIXEL_FORMAT_RGB24: /* BGR layout on a little-endian machine */
17. cvDataType = CV_8UC3;
18. cvDataWidth = 3;
19. break;
20. case PXCImage::PIXEL_FORMAT_Y8:  /* 8-Bit Gray Image, or IR 8-bit */
21. cvDataType = CV_8U;
22. cvDataWidth = 1;
23. break;
24. /* STREAM_TYPE_DEPTH */
25. case PXCImage::PIXEL_FORMAT_DEPTH: /* 16-bit unsigned integer with precision mm. */
26. case PXCImage::PIXEL_FORMAT_DEPTH_RAW: /* 16-bit unsigned integer with device specific precision (call device->QueryDepthUnit()) */
27. cvDataType = CV_16U;
28. cvDataWidth = 2;
29. break;
30. case PXCImage::PIXEL_FORMAT_DEPTH_F32: /* 32-bit float-point with precision mm. */
31. cvDataType = CV_32F;
32. cvDataWidth = 4;
33. break;
34. /* STREAM_TYPE_IR */
35. case PXCImage::PIXEL_FORMAT_Y16:          /* 16-Bit Gray Image */
36. cvDataType = CV_16U;
37. cvDataWidth = 2;
38. break;
39. case PXCImage::PIXEL_FORMAT_Y8_IR_RELATIVE:    /* Relative IR Image */
40. cvDataType = CV_8U;
41. cvDataWidth = 1;
42. break;
43. }
44. // suppose that no other planes
45. if (data.planes[1] != NULL) throw(0); // not implemented
46. // suppose that no sub pixel padding needed
47. if (data.pitches[0] % cvDataWidth!=0) throw(0); // not implemented
48. outImg->create(imgInfo.height, data.pitches[0] / cvDataWidth, cvDataType);
49. memcpy(outImg->data, data.planes[0], imgInfo.height*imgInfo.width*cvDataWidth*sizeof(pxcBYTE));
50. inImg->ReleaseAccess(&data);
51. }

void ConvertPXCImageToOpenCVMat(PXCImage *inImg, Mat *outImg) {
    int cvDataType;
    int cvDataWidth;

    PXCImage::ImageData data;
    inImg->AcquireAccess(PXCImage::ACCESS_READ, &data);
    PXCImage::ImageInfo imgInfo = inImg->QueryInfo();

    switch (data.format) {
        /* STREAM_TYPE_COLOR */
        case PXCImage::PIXEL_FORMAT_YUY2: /* YUY2 image  */
        case PXCImage::PIXEL_FORMAT_NV12: /* NV12 image */
            throw(0); // Not implemented
        case PXCImage::PIXEL_FORMAT_RGB32: /* BGRA layout on a little-endian machine */
            cvDataType = CV_8UC4;
            cvDataWidth = 4;
            break;
        case PXCImage::PIXEL_FORMAT_RGB24: /* BGR layout on a little-endian machine */
            cvDataType = CV_8UC3;
            cvDataWidth = 3;
            break;
        case PXCImage::PIXEL_FORMAT_Y8:  /* 8-Bit Gray Image, or IR 8-bit */
            cvDataType = CV_8U;
            cvDataWidth = 1;
            break;

        /* STREAM_TYPE_DEPTH */
        case PXCImage::PIXEL_FORMAT_DEPTH: /* 16-bit unsigned integer with precision mm. */
        case PXCImage::PIXEL_FORMAT_DEPTH_RAW: /* 16-bit unsigned integer with device specific precision (call device->QueryDepthUnit()) */
            cvDataType = CV_16U;
            cvDataWidth = 2;
            break;
        case PXCImage::PIXEL_FORMAT_DEPTH_F32: /* 32-bit float-point with precision mm. */
            cvDataType = CV_32F;
            cvDataWidth = 4;
            break;

        /* STREAM_TYPE_IR */
        case PXCImage::PIXEL_FORMAT_Y16:          /* 16-Bit Gray Image */
            cvDataType = CV_16U;
            cvDataWidth = 2;
            break;
        case PXCImage::PIXEL_FORMAT_Y8_IR_RELATIVE:    /* Relative IR Image */
            cvDataType = CV_8U;
            cvDataWidth = 1;
            break;
        }

    // suppose that no other planes
    if (data.planes[1] != NULL) throw(0); // not implemented
    // suppose that no sub pixel padding needed
    if (data.pitches[0] % cvDataWidth!=0) throw(0); // not implemented

    outImg->create(imgInfo.height, data.pitches[0] / cvDataWidth, cvDataType);

    memcpy(outImg->data, data.planes[0], imgInfo.height*imgInfo.width*cvDataWidth*sizeof(pxcBYTE));

    inImg->ReleaseAccess(&data);
    }

原则上传入pxcimage的指针，再通过case根据原图像类型选择要转化的图像类型是没有问题的，博主尝试过使用这个函数，但总会出现R1060的错误，似乎是指针非法使用。大家可以自行尝试一下，成功的小伙伴麻烦告知一下博主，让博主学习学习。