intel real sense programming about librealsense2 - c++

Question

I want to get 1280x720 depth image and 1280x720 color image.
So I founded as coded :
// 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 "example.hpp" // Include short list of convenience functions for rendering
#include "opencv2/opencv.hpp"
#include <iostream>
#include "stb-master\stb_image_write.h"
using namespace std;
using namespace cv;
// Capture Example demonstrates how to
// capture depth and color video streams and render them to the screen
int main(int argc, char * argv[]) try
{
int width = 1280;
int height = 720;
rs2::log_to_console(RS2_LOG_SEVERITY_ERROR);
// Create a simple OpenGL window for rendering:
window app(width, height, "RealSense Capture Example");
// Declare two textures on the GPU, one for color and one for depth
texture depth_image, color_image;
// Declare depth colorizer for pretty visualization of depth data
rs2::colorizer color_map;
color_map.set_option(RS2_OPTION_HISTOGRAM_EQUALIZATION_ENABLED,1.f);
color_map.set_option(RS2_OPTION_COLOR_SCHEME, 2.f);
// Declare RealSense pipeline, encapsulating the actual device and sensors
rs2::pipeline pipe;
// Start streaming with default recommended configuration
pipe.start();
while (app) // Application still alive?
{
rs2::frameset data = pipe.wait_for_frames(); // Wait for next set of frames from the camera
rs2::frame depth = color_map(data.get_depth_frame()); // Find and colorize the depth data
rs2::frame color = data.get_color_frame(); // Find the color data
// For cameras that don't have RGB sensor, we'll render infrared frames instead of color
if (!color)
color = data.get_infrared_frame();
// Render depth on to the first half of the screen and color on to the second
depth_image.render(depth, { 0, 0, app.width() / 2, app.height() });
color_image.render(color, { app.width() / 2, 0, app.width() / 2, app.height() });
}
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;
}
I want to this..
Push the c <- keyboard value
save the color image and depth image in PNG foramt
I can get the code about 2.
but, i don't know how to call the action when I press the "c"
I guess I have to use this example.hpp.
GLFWwindow * win = glfwCreateWindow(tile_w*cols, tile_h*rows, ss.str().c_str(), 0, 0);
glfwSetWindowUserPointer(win, &dev);
glfwSetKeyCallback(win, [](GLFWwindow * win, int key, int scancode, int action, int mods)
{
auto dev = reinterpret_cast<rs::device *>(glfwGetWindowUserPointer(win));
if (action != GLFW_RELEASE) switch (key)
{
case GLFW_KEY_R: color_rectification_enabled = !color_rectification_enabled; break;
case GLFW_KEY_C: align_color_to_depth = !align_color_to_depth; break;
case GLFW_KEY_D: align_depth_to_color = !align_depth_to_color; break;
case GLFW_KEY_E:
if (dev->supports_option(rs::option::r200_emitter_enabled))
{
int value = !dev->get_option(rs::option::r200_emitter_enabled);
std::cout << "Setting emitter to " << value << std::endl;
dev->set_option(rs::option::r200_emitter_enabled, value);
}
break;
case GLFW_KEY_A:
if (dev->supports_option(rs::option::r200_lr_auto_exposure_enabled))
{
int value = !dev->get_option(rs::option::r200_lr_auto_exposure_enabled);
std::cout << "Setting auto exposure to " << value << std::endl;
dev->set_option(rs::option::r200_lr_auto_exposure_enabled, value);
}
break;
}
});
This code is used in librealsense 1.X version. I would like to change this to librealsense 2.0 version code. But I do not know what to do.
How way do I change this code??
Thanks for reading!

Answer 1

Useful samples to get you on your way with RealSense SDK 2.0 and OpenCV are available in the repo at /wrappers/opencv
Keep in mind that the Supported Devices by SDK 2.0 are:
Intel® RealSense™ Camera D400-Series
Intel® RealSense™ Developer Kit SR300