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Update get_depth_with_region sample

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This commit is contained in:
John Zhao 2018-06-04 22:27:23 +08:00
parent dfb574c179
commit 2fe6309994
1 changed files with 15 additions and 4 deletions
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19
samples/api/get_depth_with_region.cc
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@ -152,6 +152,9 @@ int main(int argc, char *argv[]) {
if (!api) if (!api)
return 1; return 1;
api->SetOptionValue(Option::IR_CONTROL, 80);
api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
api->EnableStreamData(Stream::DEPTH); api->EnableStreamData(Stream::DEPTH);
api->Start(Source::VIDEO_STREAMING); api->Start(Source::VIDEO_STREAMING);
@ -180,18 +183,26 @@ int main(int argc, char *argv[]) {
cv::hconcat(left_data.frame, right_data.frame, img); cv::hconcat(left_data.frame, right_data.frame, img);
cv::imshow("frame", img); cv::imshow("frame", img);
auto &&disp_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
auto &&depth_data = api->GetStreamData(Stream::DEPTH); auto &&depth_data = api->GetStreamData(Stream::DEPTH);
if (!depth_data.frame.empty()) { if (!disp_data.frame.empty() && !depth_data.frame.empty()) {
auto &&depth_frame = depth_data.frame; // Show disparity instead of depth, but show depth values in region.
auto &&depth_frame = disp_data.frame;
#ifdef USE_OPENCV3
// ColormapTypes
// http://docs.opencv.org/master/d3/d50/group__imgproc__colormap.html#ga9a805d8262bcbe273f16be9ea2055a65
cv::applyColorMap(depth_frame, depth_frame, cv::COLORMAP_JET);
#endif
cv::setMouseCallback("depth", OnDepthMouseCallback, &depth_region); cv::setMouseCallback("depth", OnDepthMouseCallback, &depth_region);
// Note: DrawRect will change some depth values to show the rect. // Note: DrawRect will change some depth values to show the rect.
depth_region.DrawRect(depth_frame); depth_region.DrawRect(depth_frame);
cv::imshow("depth", depth_frame); // CV_16UC1 cv::imshow("depth", depth_frame);
depth_region.ShowElems<ushort>( depth_region.ShowElems<ushort>(
depth_frame, depth_data.frame,
[](const ushort &elem) { [](const ushort &elem) {
if (elem >= 10000) { if (elem >= 10000) {
// Filter errors, or limit to valid range. // Filter errors, or limit to valid range.