Realsense SR300 获取深度和彩色图像

#include <windows.h>
#include <wchar.h>
#include "pxcsensemanager.h"
#include "util_render.h"  //SDK provided utility class used for rendering (packaged in libpxcutils.lib)

void QueryFilterDevice(PXCCaptureManager *filterbydeviceinfo, int n)
{
	PXCSession::ImplDesc desc1 = {};
	desc1.group = PXCSession::IMPL_GROUP_SENSOR;
	desc1.subgroup = PXCSession::IMPL_SUBGROUP_VIDEO_CAPTURE;

	PXCSession *session = PXCSession::CreateInstance();
	PXCSession::ImplDesc desc2;
	session->QueryImpl(&desc1, 0, &desc2)<PXC_STATUS_NO_ERROR;
	wprintf_s(L"Module[%d]: %s\n", 0, desc2.friendlyName);

	PXCCapture *capture = 0;
	session->CreateImpl<PXCCapture>(&desc2, &capture);

	PXCCapture::DeviceInfo dinfo;
	capture->QueryDeviceInfo(n, &dinfo);

	filterbydeviceinfo->FilterByDeviceInfo(&dinfo);
}

int wmain(int argc, WCHAR* argv[]) {

	// initialize the util render 
	UtilRender renderColor(L"Color");
	UtilRender renderDepth(L"Depth");

	// create the PXCSenseManager
	PXCSenseManager *psm = PXCSenseManager::CreateInstance();
	if (!psm) {
		wprintf_s(L"Unable to create the PXCSenseManager\n");
		return 1;
	}

	PXCCaptureManager *cm = psm->QueryCaptureManager();
	QueryFilterDevice(cm,0);

	// select the color stream of size 640x480 and depth stream of size 320x240
	psm->EnableStream(PXCCapture::STREAM_TYPE_COLOR, 640, 480);
	psm->EnableStream(PXCCapture::STREAM_TYPE_DEPTH, 640, 480);

	// initialize the PXCSenseManager
	if (psm->Init() != PXC_STATUS_NO_ERROR) return 2;

	PXCImage *colorIm, *depthIm;
	for (int i = 0; /*i<MAX_FRAMES*/; i++) {

		// This function blocks until all streams are ready (depth and color)
		// if false streams will be unaligned
		if (psm->AcquireFrame(true)<PXC_STATUS_NO_ERROR) break;

		// retrieve all available image samples
		PXCCapture::Sample *sample = psm->QuerySample();

		// retrieve the image or frame by type from the sample
		colorIm = sample->color;
		depthIm = sample->depth;

		// render the frame
		renderColor.RenderFrame(colorIm);
		renderDepth.RenderFrame(depthIm);

		// release or unlock the current frame to fetch the next frame
		psm->ReleaseFrame();
	}

	// close the last opened streams and release any session and processing module instances
	psm->Release();

	return 0;
}