摁下p鍵,儲存realsense的rgb、depth和兩個IR紅外各一張圖至工程所在檔案夾

實作功能：

1. 擷取realsense裝置的 rgb、depth和兩個IR紅外視訊流；

2.摁下p鍵,儲存rgb、depth和兩個IR紅外各一張圖至工程所在檔案夾；

// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.

#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
#include <opencv2/opencv.hpp>   // Include OpenCV API

#include <fstream>              // File IO
#include <iostream>             // Terminal IO
#include <sstream>              // Stringstreams

#include <direct.h>
using namespace std;
using namespace cv;

#define RS_WIDTH 640//1280
#define RS_HEIGHT 480//720
#define RS_FPS 30
int main(int argc, char* argv[]) try
{
	// judge whether devices is exist or not
	rs2::context ctx;
	auto list = ctx.query_devices(); // Get a snapshot of currently connected devices
	if (list.size() == 0)
		throw std::runtime_error("No device detected. Is it plugged in?");
	rs2::device dev = list.front();

	// Declare depth colorizer for pretty visualization of depth data
	rs2::colorizer color_map;
	// Declare RealSense pipeline, encapsulating the actual device and sensors
	rs2::pipeline pipe;

	rs2::config cfg;//建立一個以非預設配置的配置用來配置管道
	 //Add desired streams to configuration
	//彩色和深度可以不配置，按預設值輸出；紅外圖必須進行配置，否則無法顯示
	cfg.enable_stream(RS2_STREAM_COLOR, RS_WIDTH, RS_HEIGHT, RS2_FORMAT_BGR8, RS_FPS);//向配置添加所需的流
	cfg.enable_stream(RS2_STREAM_DEPTH, RS_WIDTH, RS_HEIGHT, RS2_FORMAT_Z16, RS_FPS);
	cfg.enable_stream(RS2_STREAM_INFRARED, 1, RS_WIDTH, RS_HEIGHT, RS2_FORMAT_Y8, RS_FPS);
	cfg.enable_stream(RS2_STREAM_INFRARED, 2, RS_WIDTH, RS_HEIGHT, RS2_FORMAT_Y8, RS_FPS);
	
	// Start streaming with default recommended configuration
	pipe.start(cfg);//訓示管道使用所請求的配置啟動流

	const auto window_name = "Display Image";
	namedWindow(window_name, WINDOW_AUTOSIZE);
	char pBuf[255];       //存放路徑的變量
	_getcwd(pBuf, 255);   //擷取程式的目前目錄
	while (getWindowProperty(window_name, WND_PROP_AUTOSIZE) >= 0)
	{
		rs2::frameset data = pipe.wait_for_frames(); // Wait for next set of frames from the camera
		rs2::frame depth = data.get_depth_frame().apply_filter(color_map);//Apply color map for visualization of depth// Find and colorize the depth data.如果沒有apply_filter(color_map)深度圖像為灰階圖，對應CV_8UC1
		rs2::frame rgb = data.get_color_frame();//.apply_filter(color_map);
		rs2::frame ir1=data.get_infrared_frame(1);
		rs2::frame ir2 = data.get_infrared_frame(2);

		// Query frame size (width and height)
		const int depthW = depth.as<rs2::video_frame>().get_width();
		const int depthH = depth.as<rs2::video_frame>().get_height();
		const int rgbW = rgb.as<rs2::video_frame>().get_width();
		const int rgbH = rgb.as<rs2::video_frame>().get_height();

		const int irW = ir1.as<rs2::video_frame>().get_width();
		const int irH = ir1.as<rs2::video_frame>().get_height();
		// Create OpenCV matrix of size (w,h) from the colorized depth data
		Mat depthImage(Size(depthW, depthH), CV_8UC3, (void*)depth.get_data(), Mat::AUTO_STEP);
		//Mat depthImage(Size(depthW, depthH), CV_8UC1, (void*)depth.get_data(), Mat::AUTO_STEP);
		Mat rgbImage(Size(rgbW, rgbH), CV_8UC3, (void*)rgb.get_data(), Mat::AUTO_STEP);

		Mat irImage(Size(irW, irH), CV_8UC1, (void*)ir1.get_data(), Mat::AUTO_STEP);
		Mat ir2Image(Size(irW, irH), CV_8UC1, (void*)ir2.get_data(), Mat::AUTO_STEP);

		stringstream depthFile;
		stringstream rgbFile;
		stringstream irFile;
		stringstream ir2File;
		static int image_num = 1;
		char c = (char)waitKey(1);
		if (c == 27)
			std::cout<<"Exit boss"<<std::endl;//break;
		switch (c)
		{
		case 'p':
			depthFile.clear();
			depthFile << (string)pBuf <<"/depth" << image_num << ".jpg";
			imwrite(depthFile.str(), depthImage);//儲存圖檔

			rgbFile.clear();
			rgbFile << (string)pBuf << "/rgb" << image_num << ".jpg";
			imwrite(rgbFile.str(), rgbImage);//儲存圖檔

			irFile.clear();
			irFile << (string)pBuf << "/ir1-" << image_num << ".jpg";
			imwrite(irFile.str(), irImage);//儲存圖檔
			ir2File.clear();
			ir2File << (string)pBuf << "/ir2-" << image_num << ".jpg";
			imwrite(ir2File.str(), ir2Image);//儲存圖檔

			image_num++;
			cout << image_num << endl;
			break;
		default:
			break;
		}

		// Update the window with new data
		imshow(window_name, depthImage);
	}

	return EXIT_SUCCESS;
}
catch (const rs2::error& e)
{
	std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n    " << e.what() << std::endl;
	return EXIT_FAILURE;
}
catch (const std::exception& e)
{
	std::cerr << e.what() << std::endl;
	return EXIT_FAILURE;
}