55 lines
1.8 KiB
ReStructuredText
55 lines
1.8 KiB
ReStructuredText
.. _data_get_depth:
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Get Depth Image
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===============
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Depth images belongs to the upper layer of synthetic data. You need to start the ``EnableStreamData()`` beforehand, to get it through ``GetStreamData()``. The depth image type is CV_16UC1. In addition, it should be check not be empty before use.
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For detailed process description, please see :ref:`get_stereo` :ref:`get_stereo_rectified`.
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In addition, it is recommended to use plugins to calculate depth: Depth images work better and operate faster. Please refer to :ref:`get_with_plugin`.
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Reference code snippet:
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.. code-block:: c++
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auto &&api = API::Create(argc, argv);
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api->EnableStreamData(Stream::DEPTH);
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api->Start(Source::VIDEO_STREAMING);
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cv::namedWindow("frame");
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cv::namedWindow("depth");
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while (true) {
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api->WaitForStreams();
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auto &&left_data = api->GetStreamData(Stream::LEFT);
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auto &&right_data = api->GetStreamData(Stream::RIGHT);
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cv::Mat img;
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cv::hconcat(left_data.frame, right_data.frame, img);
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cv::imshow("frame", img);
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auto &&depth_data = api->GetStreamData(Stream::DEPTH);
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if (!depth_data.frame.empty()) {
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cv::imshow("depth", depth_data.frame); // CV_16UC1
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}
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char key = static_cast<char>(cv::waitKey(1));
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if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
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break;
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}
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}
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api->Stop(Source::VIDEO_STREAMING);
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The above code uses OpenCV to display the image. When the display window is selected, pressing ``ESC/Q`` will end the program.
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Complete code examples, see `get_depth.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_depth.cc>`_ .
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.. tip::
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Preview the value of a region of the depth image, see `get_depth_with_region.cc <https://github.com/slightech/MYNT-EYE-S-SDK/blob/master/samples/get_depth_with_region.cc>`_ .
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