Realsense（一）提取彩色和深度視訊流并實作pxcimage到mat

一、簡要介紹

        關于realsense的介紹，網上很多，這裡不再贅述，sdk及相關文檔可參考realsense SDK，也可參考開發人員專區。

運作代碼之前，要確定你已經安裝好了realsense的DCM和SDK，官網有教程，具體請參考DCM和SDK安裝步驟。

二、代碼

#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"未正常擷取彩色圖\n");
		if (depthIm->AcquireAccess(PXCImage::ACCESS_READ, &depth_data) < PXC_STATUS_NO_ERROR)
			wprintf_s(L"未正常擷取深度圖\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的圖檔在imshow時會除以256，将最遠探測距離設為z，那麼imshow時可以乘以255*256/z,此處乘以15
		imshow("depth", depth * 15);
		waitKey(1);

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

三、相關解釋

        建立項目，寫入源代碼，生成解決方案之前，記得要在項目的屬性管理器右鍵項目，選擇添加現有屬性表，選擇C:\Program Files (x86)\Intel\RSSDK\props目錄下的一個官方配置好的屬性表（前提是DCM和SDK的安裝路徑是預設路徑，沒有自行修改）；另外因為我們還要進行cv::Mat類型的轉化，是以也要導入opencv的屬性表。

        運作之後，可以看到4個視窗，COLOR_STREAM和DEPTH_STREAM為分别realsense提取到的彩色視訊流和深度視訊流；color和depth分别為我們轉化為opencv中mat類型之後的彩色和深度視訊流。

目前實作pxcimage到mat類型轉化的方法有好幾種，大體類似，主要是對PXCImage::ImageData中的plane和pitch的了解，部落客了解為plane[0]為該sdk中圖檔資料的首位址，pitches可參考http://www.cnblogs.com/gamedes/p/4541765.html。

也看到論壇上有人專門寫過pxcimage到mat類型的轉化函數，函數代碼如下：

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);
    }
           

原則上傳入pxcimage的指針，再通過case根據原圖像類型選擇要轉化的圖像類型是沒有問題的，部落客嘗試過使用這個函數，但總會出現R1060的錯誤，似乎是指針非法使用。大家可以自行嘗試一下，成功的小夥伴麻煩告知一下部落客，讓部落客學習學習。