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fix: use normalized and real depth in depth sample.

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TinyOh
2019-03-26 09:45:06 +08:00
parent d1ebc6cad5
commit a9f0e49a5a
4 changed files with 73 additions and 2 deletions
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13
samples/tutorials/data/get_depth.cc
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@@ -30,11 +30,13 @@ int main(int argc, char *argv[]) {
api->SetDisparityComputingMethodType(DisparityComputingMethod::BM);
api->EnableStreamData(Stream::DEPTH);
api->EnableStreamData(Stream::DISPARITY_NORMALIZED);
api->Start(Source::VIDEO_STREAMING);
cv::namedWindow("frame");
cv::namedWindow("depth");
cv::namedWindow("depth_real");
cv::namedWindow("depth_normalized");
while (true) {
api->WaitForStreams();
@@ -47,9 +49,16 @@ int main(int argc, char *argv[]) {
cv::imshow("frame", img);
}
// this code is for real depth data
auto &&depth_data = api->GetStreamData(Stream::DEPTH);
if (!depth_data.frame.empty()) {
cv::imshow("depth", depth_data.frame); // CV_16UC1
cv::imshow("depth_real", depth_data.frame); // CV_16UC1
}
// this code is for normalized depth data
auto &&disp_norm_data = api->GetStreamData(Stream::DISPARITY_NORMALIZED);
if (!disp_norm_data.frame.empty()) {
cv::imshow("depth_normalized", disp_norm_data.frame); // CV_8UC1
}
char key = static_cast<char>(cv::waitKey(1));