Get camera image¶
Using the DeviceMode::DEVICE_COLOR
function of the API, you can get
color image,or use DeviceMode::DEVICE_ALL
to get color and depth
image.
Using GetStreamData()
to get your data.
Reference code snippet:
// Device mode, default DEVICE_ALL
// DEVICE_COLOR: IMAGE_LEFT_COLOR y IMAGE_RIGHT_COLOR - IMAGE_DEPTH n
// DEVICE_DEPTH: IMAGE_LEFT_COLOR n IMAGE_RIGHT_COLOR n IMAGE_DEPTH y
// DEVICE_ALL: IMAGE_LEFT_COLOR y IMAGE_RIGHT_COLOR - IMAGE_DEPTH y
// Note: y: available, n: unavailable, -: depends on #stream_mode
params.dev_mode = DeviceMode::DEVICE_DEPTH;
auto left_color = cam.GetStreamData(ImageType::IMAGE_LEFT_COLOR);
if (left_color.img) {
cv::Mat left = left_color.img->To(ImageFormat::COLOR_BGR)->ToMat();
painter.DrawSize(left, CVPainter::TOP_LEFT);
painter.DrawStreamData(left, left_color, CVPainter::TOP_RIGHT);
painter.DrawInformation(left, util::to_string(counter.fps()),
CVPainter::BOTTOM_RIGHT);
cv::imshow("left color", left);
Complete code samples,see get_stereo_image.cc .