API 通过 DeviceMode::DEVICE_COLOR
参数获取图像数据,或者 DeviceMode::DEVICE_ALL
同时捕获图像和深度数据。
通过 GetStreamData()
函数,就能获取想要的数据。
参考代码片段:
1 // Device mode, default DEVICE_ALL
2 // DEVICE_COLOR: IMAGE_LEFT_COLOR y IMAGE_RIGHT_COLOR - IMAGE_DEPTH n
3 // DEVICE_DEPTH: IMAGE_LEFT_COLOR n IMAGE_RIGHT_COLOR n IMAGE_DEPTH y
4 // DEVICE_ALL: IMAGE_LEFT_COLOR y IMAGE_RIGHT_COLOR - IMAGE_DEPTH y
5 // Note: y: available, n: unavailable, -: depends on #stream_mode
6 params.dev_mode = DeviceMode::DEVICE_DEPTH;
9 auto left_color = cam.GetStreamData(ImageType::IMAGE_LEFT_COLOR);
11 cv::Mat left = left_color.img->To(ImageFormat::COLOR_BGR)->ToMat();
12 painter.DrawSize(left, CVPainter::TOP_LEFT);
13 painter.DrawStreamData(left, left_color, CVPainter::TOP_RIGHT);
14 painter.DrawInformation(left, util::to_string(counter.fps()),
15 CVPainter::BOTTOM_RIGHT);
16 cv::imshow("left color", left);
完整代码样例,请见get_image.cc 。