Qt 和 Intel realsense 入门
Qt and Intel realsense Getting started
初学者不知道去哪里问。所以如果你能帮忙...
我想创建一个项目使用:
- Qt 5.15.0
- Visual studio 2019
- C++
- openCV 4.2.0(如果需要)
- 英特尔实感摄像头
实际上,要开始,我需要一个更简单的项目,例如来自英特尔实感 SDK 2.0 的示例,
- “im-show”
- or/and“hello-realsense”
代码示例 将是最好的,甚至更好的教程。
到现在我还没有在 google 上找到任何东西。
如果上述内容有困难,建议您如何开始。
例如,我发现:“Qt and openCV on Windows with MSVC”
它是我开始的好地方吗,我需要 openCV 来 show/display 像项目 "im-show" 那样的深度图像吗?
提前谢谢你。
根据你的问题,我了解到你正在尝试在 Qt 应用程序中预览相机数据。
- 无法在 Qt 应用程序中写入 imshow()。
- 您必须像下面那样将 OpenCV Mat 转换为 QImage 并将其显示在您的查看器中(widget/QML)
Mat img;
QImage img1 = QImage((uchar *) img.data,img.cols,img.rows,img.step,QImage::Format_Indexed8);
这是一个非常简单的示例,仅使用 Qt 和 Intel Realsense SDK。
我们首先编写一个 class 来处理我们的相机:
#ifndef CAMERA_H
#define CAMERA_H
// Import QT libs, one for threads and one for images
#include <QThread>
#include <QImage>
// Import librealsense header
#include <librealsense2/rs.hpp>
// Let's define our camera as a thread, it will be constantly running and sending frames to
// our main window
class Camera : public QThread
{
Q_OBJECT
public:
// We need to instantiate a camera with both depth and rgb resolution (as well as fps)
Camera(int rgb_width, int rgb_height, int depth_width, int depth_height, int fps);
~Camera() {}
// Member function that handles thread iteration
void run();
// If called it will stop the thread
void stop() { camera_running = false; }
private:
// Realsense configuration structure, it will define streams that need to be opened
rs2::config cfg;
// Our pipeline, main object used by realsense to handle streams
rs2::pipeline pipe;
// Frames returned by our pipeline, they will be packed in this structure
rs2::frameset frames;
// A bool that defines if our thread is running
bool camera_running = true;
signals:
// A signal sent by our class to notify that there are frames that need to be processed
void framesReady(QImage frameRGB, QImage frameDepth);
};
// A function that will convert realsense frames to QImage
QImage realsenseFrameToQImage(const rs2::frame& f);
#endif // CAMERA_H
为了完全理解这 class 的作用,我将您重定向到以下两个页面:
Signals & Slots and QThread。这个 class 是一个 QThread,这意味着它可以 运行 与我们的主 window 并行。当几帧准备就绪时,将发出信号 framesReady 并且 window 将显示图像。
先说如何用librealsense打开摄像头流:
Camera::Camera(int rgb_width, int rgb_height, int depth_width, int depth_height, int fps)
{
// Enable depth stream with given resolution. Pixel will have a bit depth of 16 bit
cfg.enable_stream(RS2_STREAM_DEPTH, depth_width, depth_height, RS2_FORMAT_Z16, fps);
// Enable RGB stream as frames with 3 channel of 8 bit
cfg.enable_stream(RS2_STREAM_COLOR, rgb_width, rgb_height, RS2_FORMAT_RGB8, fps);
// Start our pipeline
pipe.start(cfg);
}
如您所见,我们的构造函数非常简单,它只会打开具有给定流的管道。
现在管道已经启动,我们只需要获取相应的帧即可。我们将在我们的 'run' 方法中执行此操作,该方法将在 QThread 启动时启动:
void Camera::run()
{
while(camera_running)
{
// Wait for frames and get them as soon as they are ready
frames = pipe.wait_for_frames();
// Let's get our depth frame
rs2::depth_frame depth = frames.get_depth_frame();
// And our rgb frame
rs2::frame rgb = frames.get_color_frame();
// Let's convert them to QImage
auto q_rgb = realsenseFrameToQImage(rgb);
auto q_depth = realsenseFrameToQImage(depth);
// And finally we'll emit our signal
emit framesReady(q_rgb, q_depth);
}
}
进行转换的函数如下:
QImage realsenseFrameToQImage(const rs2::frame &f)
{
using namespace rs2;
auto vf = f.as<video_frame>();
const int w = vf.get_width();
const int h = vf.get_height();
if (f.get_profile().format() == RS2_FORMAT_RGB8)
{
auto r = QImage((uchar*) f.get_data(), w, h, w*3, QImage::Format_RGB888);
return r;
}
else if (f.get_profile().format() == RS2_FORMAT_Z16)
{
// only if you have Qt > 5.13
auto r = QImage((uchar*) f.get_data(), w, h, w*2, QImage::Format_Grayscale16);
return r;
}
throw std::runtime_error("Frame format is not supported yet!");
}
我们的相机完成了。
现在我们将定义我们的主要 window。我们需要一个插槽来接收我们的框架和两个我们将放置图像的标签:
#ifndef MAINWINDOW_H
#define MAINWINDOW_H
#include <QMainWindow>
#include <QLabel>
class MainWindow : public QMainWindow
{
Q_OBJECT
public:
explicit MainWindow(QWidget *parent = 0);
public slots:
// Slot that will receive frames from the camera
void receiveFrame(QImage rgb, QImage depth);
private:
QLabel *rgb_label;
QLabel *depth_label;
};
#endif // MAINWINDOW_H
我们为 window 创建了一个简单的视图,图像将垂直显示。
#include "mainwindow.h"
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent)
{
// Creates our central widget that will contain the labels
QWidget *widget = new QWidget();
// Create our labels with an empty string
rgb_label = new QLabel("");
depth_label = new QLabel("");
// Define a vertical layout
QVBoxLayout *widgetLayout = new QVBoxLayout;
// Add the labels to the layout
widgetLayout->addWidget(rgb_label);
widgetLayout->addWidget(depth_label);
// And then assign the layout to the central widget
widget->setLayout(widgetLayout);
// Lastly assign our central widget to our window
setCentralWidget(widget);
}
现在我们需要定义槽函数。分配给该功能的唯一工作是更改与标签相关的图像:
void MainWindow::receiveFrame(QImage rgb, QImage depth)
{
rgb_label->setPixmap(QPixmap::fromImage(rgb));
depth_label->setPixmap(QPixmap::fromImage(depth));
}
大功告成!
最后,我们编写 main,它将启动我们的线程并显示我们的 window。
#include <QApplication>
#include "mainwindow.h"
#include "camera.h"
int main(int argc, char *argv[])
{
QApplication a(argc, argv);
MainWindow window;
Camera camera(640, 480, 320, 240, 30);
// Connect the signal from the camera to the slot of the window
QApplication::connect(&camera, &Camera::framesReady, &window, &MainWindow::receiveFrame);
window.show();
camera.start();
return a.exec();
}
初学者不知道去哪里问。所以如果你能帮忙...
我想创建一个项目使用:
- Qt 5.15.0
- Visual studio 2019
- C++
- openCV 4.2.0(如果需要)
- 英特尔实感摄像头
实际上,要开始,我需要一个更简单的项目,例如来自英特尔实感 SDK 2.0 的示例,
- “im-show”
- or/and“hello-realsense”
代码示例 将是最好的,甚至更好的教程。
到现在我还没有在 google 上找到任何东西。
如果上述内容有困难,建议您如何开始。
例如,我发现:“Qt and openCV on Windows with MSVC”
它是我开始的好地方吗,我需要 openCV 来 show/display 像项目 "im-show" 那样的深度图像吗?
提前谢谢你。
根据你的问题,我了解到你正在尝试在 Qt 应用程序中预览相机数据。
- 无法在 Qt 应用程序中写入 imshow()。
- 您必须像下面那样将 OpenCV Mat 转换为 QImage 并将其显示在您的查看器中(widget/QML)
Mat img;
QImage img1 = QImage((uchar *) img.data,img.cols,img.rows,img.step,QImage::Format_Indexed8);
这是一个非常简单的示例,仅使用 Qt 和 Intel Realsense SDK。
我们首先编写一个 class 来处理我们的相机:
#ifndef CAMERA_H
#define CAMERA_H
// Import QT libs, one for threads and one for images
#include <QThread>
#include <QImage>
// Import librealsense header
#include <librealsense2/rs.hpp>
// Let's define our camera as a thread, it will be constantly running and sending frames to
// our main window
class Camera : public QThread
{
Q_OBJECT
public:
// We need to instantiate a camera with both depth and rgb resolution (as well as fps)
Camera(int rgb_width, int rgb_height, int depth_width, int depth_height, int fps);
~Camera() {}
// Member function that handles thread iteration
void run();
// If called it will stop the thread
void stop() { camera_running = false; }
private:
// Realsense configuration structure, it will define streams that need to be opened
rs2::config cfg;
// Our pipeline, main object used by realsense to handle streams
rs2::pipeline pipe;
// Frames returned by our pipeline, they will be packed in this structure
rs2::frameset frames;
// A bool that defines if our thread is running
bool camera_running = true;
signals:
// A signal sent by our class to notify that there are frames that need to be processed
void framesReady(QImage frameRGB, QImage frameDepth);
};
// A function that will convert realsense frames to QImage
QImage realsenseFrameToQImage(const rs2::frame& f);
#endif // CAMERA_H
为了完全理解这 class 的作用,我将您重定向到以下两个页面: Signals & Slots and QThread。这个 class 是一个 QThread,这意味着它可以 运行 与我们的主 window 并行。当几帧准备就绪时,将发出信号 framesReady 并且 window 将显示图像。
先说如何用librealsense打开摄像头流:
Camera::Camera(int rgb_width, int rgb_height, int depth_width, int depth_height, int fps)
{
// Enable depth stream with given resolution. Pixel will have a bit depth of 16 bit
cfg.enable_stream(RS2_STREAM_DEPTH, depth_width, depth_height, RS2_FORMAT_Z16, fps);
// Enable RGB stream as frames with 3 channel of 8 bit
cfg.enable_stream(RS2_STREAM_COLOR, rgb_width, rgb_height, RS2_FORMAT_RGB8, fps);
// Start our pipeline
pipe.start(cfg);
}
如您所见,我们的构造函数非常简单,它只会打开具有给定流的管道。
现在管道已经启动,我们只需要获取相应的帧即可。我们将在我们的 'run' 方法中执行此操作,该方法将在 QThread 启动时启动:
void Camera::run()
{
while(camera_running)
{
// Wait for frames and get them as soon as they are ready
frames = pipe.wait_for_frames();
// Let's get our depth frame
rs2::depth_frame depth = frames.get_depth_frame();
// And our rgb frame
rs2::frame rgb = frames.get_color_frame();
// Let's convert them to QImage
auto q_rgb = realsenseFrameToQImage(rgb);
auto q_depth = realsenseFrameToQImage(depth);
// And finally we'll emit our signal
emit framesReady(q_rgb, q_depth);
}
}
进行转换的函数如下:
QImage realsenseFrameToQImage(const rs2::frame &f)
{
using namespace rs2;
auto vf = f.as<video_frame>();
const int w = vf.get_width();
const int h = vf.get_height();
if (f.get_profile().format() == RS2_FORMAT_RGB8)
{
auto r = QImage((uchar*) f.get_data(), w, h, w*3, QImage::Format_RGB888);
return r;
}
else if (f.get_profile().format() == RS2_FORMAT_Z16)
{
// only if you have Qt > 5.13
auto r = QImage((uchar*) f.get_data(), w, h, w*2, QImage::Format_Grayscale16);
return r;
}
throw std::runtime_error("Frame format is not supported yet!");
}
我们的相机完成了。
现在我们将定义我们的主要 window。我们需要一个插槽来接收我们的框架和两个我们将放置图像的标签:
#ifndef MAINWINDOW_H
#define MAINWINDOW_H
#include <QMainWindow>
#include <QLabel>
class MainWindow : public QMainWindow
{
Q_OBJECT
public:
explicit MainWindow(QWidget *parent = 0);
public slots:
// Slot that will receive frames from the camera
void receiveFrame(QImage rgb, QImage depth);
private:
QLabel *rgb_label;
QLabel *depth_label;
};
#endif // MAINWINDOW_H
我们为 window 创建了一个简单的视图,图像将垂直显示。
#include "mainwindow.h"
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent)
{
// Creates our central widget that will contain the labels
QWidget *widget = new QWidget();
// Create our labels with an empty string
rgb_label = new QLabel("");
depth_label = new QLabel("");
// Define a vertical layout
QVBoxLayout *widgetLayout = new QVBoxLayout;
// Add the labels to the layout
widgetLayout->addWidget(rgb_label);
widgetLayout->addWidget(depth_label);
// And then assign the layout to the central widget
widget->setLayout(widgetLayout);
// Lastly assign our central widget to our window
setCentralWidget(widget);
}
现在我们需要定义槽函数。分配给该功能的唯一工作是更改与标签相关的图像:
void MainWindow::receiveFrame(QImage rgb, QImage depth)
{
rgb_label->setPixmap(QPixmap::fromImage(rgb));
depth_label->setPixmap(QPixmap::fromImage(depth));
}
大功告成!
最后,我们编写 main,它将启动我们的线程并显示我们的 window。
#include <QApplication>
#include "mainwindow.h"
#include "camera.h"
int main(int argc, char *argv[])
{
QApplication a(argc, argv);
MainWindow window;
Camera camera(640, 480, 320, 240, 30);
// Connect the signal from the camera to the slot of the window
QApplication::connect(&camera, &Camera::framesReady, &window, &MainWindow::receiveFrame);
window.show();
camera.start();
return a.exec();
}