Ubuntu16.04下opencv获取realsense sr300的图像数据

看到网上很多的文章都是用的库是librealsense，现在用的库是librealsense2,感觉差别较大。

#include <librealsense2/rs.hpp>  

#include <opencv2/opencv.hpp>  

using namespace std;  

using namespace cv;  

int main()  

{  

    //构建一个抽象设备的管道  

    rs2::pipeline pipe;  

    //使用非默认配置文件创建配置以配置管道  

    rs2::config cfg;  

    //将所需的流添加到配置  

    cfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8, 30);  

    //指示管道使用请求的配置开始流式传输  

    pipe.start(cfg);  

    while(1)  

    {  

        // 放下几个第一帧以使自动曝光稳定  

        rs2::frameset frames;  

        for(int i = 0; i < 30; i++)  

        {  

            //等待所有配置的流生成一个帧  

            frames = pipe.wait_for_frames();  

        }  

        //获取每个帧  

        rs2::frame color_frame = frames.get_color_frame();  

        //从彩色图像创建OpenCV矩阵  

        Mat color(Size(640, 480), CV_8UC3, (void*)color_frame.get_data(), Mat::AUTO_STEP);  

        namedWindow("Display Image", WINDOW_AUTOSIZE );  

        imshow("Display Image", color);  

        waitKey(0);  

    }  

    return 0;  

}  

因为用的是Qt的.pro文件

TEMPLATE = app  

CONFIG += console c++11  

CONFIG -= app_bundle  

CONFIG -= qt  

SOURCES += \  

        main.cpp  

INCLUDEPATH += /usr/local/include \  

/usr/local/include/opencv \  

/usr/local/include/opencv2\  

/usr/local/include/librealsense2  

LIBS += /usr/local/lib/libopencv_calib3d.so \  

/usr/local/lib/libopencv_core.so \  

/usr/local/lib/libopencv_features2d.so \  

/usr/local/lib/libopencv_flann.so \  

/usr/local/lib/libopencv_highgui.so \  

/usr/local/lib/libopencv_imgcodecs.so \  

/usr/local/lib/libopencv_imgproc.so \  

/usr/local/lib/libopencv_ml.so \  

/usr/local/lib/libopencv_objdetect.so \  

/usr/local/lib/libopencv_photo.so \  

/usr/local/lib/libopencv_shape.so \  

/usr/local/lib/libopencv_stitching.so \  

/usr/local/lib/libopencv_superres.so \  

/usr/local/lib/libopencv_videoio.so \  

/usr/local/lib/libopencv_video.so \  

/usr/local/lib/libopencv_videostab.so\  

/usr/local/lib/librealsense2.so
  

运行结果：