标签:wait nta comm map color VID pre cal exception
rs-save-to-disk.cpp
// License: Apache 2.0. See LICENSE file in root directory. // Copyright(c) 2015-2017 Intel Corporation. All Rights Reserved. #include <librealsense2/rs.hpp> // Include RealSense Cross Platform API #include <fstream> // File IO #include <iostream> // Terminal IO #include <sstream> // Stringstreams // 3rd party header for writing png files #define STB_IMAGE_WRITE_IMPLEMENTATION #include "stb_image_write.h" // Helper function for writing metadata to disk as a csv file void metadata_to_csv(const rs2::frame& frm, const std::string& filename); // This sample captures 30 frames and writes the last frame to disk. // It can be useful for debugging an embedded system with no display. int main(int argc, char * argv[]) try { // 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; // Start streaming with default recommended configuration pipe.start(); // Capture 30 frames to give autoexposure, etc. a chance to settle for (auto i = 0; i < 30; ++i) pipe.wait_for_frames(); // Wait for the next set of frames from the camera. Now that autoexposure, etc. // has settled, we will write these to disk for (auto&& frame : pipe.wait_for_frames()) { // We can only save video frames as pngs, so we skip the rest if (auto vf = frame.as<rs2::video_frame>()) { auto stream = frame.get_profile().stream_type(); // Use the colorizer to get an rgb image for the depth stream if (vf.is<rs2::depth_frame>()) vf = color_map(frame); // Write images to disk std::stringstream png_file; png_file << "rs-save-to-disk-output-" << vf.get_profile().stream_name() << ".png"; stbi_write_png(png_file.str().c_str(), vf.get_width(), vf.get_height(), vf.get_bytes_per_pixel(), vf.get_data(), vf.get_stride_in_bytes()); std::cout << "Saved " << png_file.str() << std::endl; // Record per-frame metadata for UVC streams std::stringstream csv_file; csv_file << "rs-save-to-disk-output-" << vf.get_profile().stream_name() << "-metadata.csv"; metadata_to_csv(vf, csv_file.str()); } } 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; } void metadata_to_csv(const rs2::frame& frm, const std::string& filename) { std::ofstream csv; csv.open(filename); // std::cout << "Writing metadata to " << filename << endl; csv << "Stream," << rs2_stream_to_string(frm.get_profile().stream_type()) << "\nMetadata Attribute,Value\n"; // Record all the available metadata attributes for (size_t i = 0; i < RS2_FRAME_METADATA_COUNT; i++) { if (frm.supports_frame_metadata((rs2_frame_metadata_value)i)) { csv << rs2_frame_metadata_to_string((rs2_frame_metadata_value)i) << "," << frm.get_frame_metadata((rs2_frame_metadata_value)i) << "\n"; } } csv.close(); }
标签:wait nta comm map color VID pre cal exception
原文地址:https://www.cnblogs.com/herd/p/11390480.html