realsense api 常用api案例（2）

原创已于 2025-07-16 13:49:55 修改 · 296 阅读

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#机器人 #realsense

于 2025-07-16 13:45:21 首次发布

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API 使用指南

api查找地址：https://intelrealsense.github.io/librealsense/doxygen/annotated.html
建议编辑
待办事项：
获取帧的宽度、高度、每像素字节数及字节步长

获取帧时间戳及每帧元数据

获取与深度对齐的彩色帧及反之

1.获取设备数量

rs::context ctx;
if (ctx.get_device_count() == 0) 
    throw std::runtime_error("No device detected. Is it plugged in?");
rs::device & dev = *ctx.get_device(0);

或

rs2::context ctx;
auto list = ctx.query_devices(); // Get a snapshot of currently connected devices
if (list.size() == 0) 
    throw std::runtime_error("No device detected. Is it plugged in?");
rs2::device dev = list.front();

2.使用默认配置开始流式查传输

rs::context ctx;
rs::device & dev = *ctx.get_device(0);
dev.enable_stream(rs::stream::color, rs::preset::best_quality);
dev.enable_stream(rs::stream::depth, rs::preset::best_quality);
dev.start();

或：

rs2::pipeline pipe;
pipe.start();

3. 启动左右红外成像器流式传输

rs::context ctx;
rs::device & dev = *ctx.get_device(0);
dev.enable_stream(rs::stream::infrared, rs::preset::best_quality);
dev.enable_stream(rs::stream::infrared2, rs::preset::best_quality);
dev.start();

或：

rs2::config cfg;
cfg.enable_stream(RS2_STREAM_INFRARED, 1);
cfg.enable_stream(RS2_STREAM_INFRARED, 2);
rs2::pipeline pipe;
pipe.start(cfg);

4.等待一组同步帧

rs::context ctx;
rs::device & dev = *ctx.get_device(0);
dev.enable_stream(rs::stream::color, rs::preset::best_quality);
dev.enable_stream(rs::stream::depth, rs::preset::best_quality);
dev.start();
dev.wait_for_frames();
dev.get_frame_data(rs::stream::depth); // Pointer to depth pixels, 
// invalidated by next call to wait/poll for frames

或：

rs2::pipeline pipe;
pipe.start();
rs2::frameset frames = pipe.wait_for_frames();
rs2::frame frame = frames.first(RS2_STREAM_DEPTH);
if (frame)
    frame.get_data(); // Pointer to depth pixels, 
                      // invalidated when last copy of frame goes out of scope

5.轮询数据

rs::context ctx;
rs::device & dev = *ctx.get_device(0);
dev.enable_stream(rs::stream::color, rs::preset::best_quality);
dev.enable_stream(rs::stream::depth, rs::preset::best_quality);
dev.start();
if (dev.poll_for_frames())
    dev.get_frame_data(rs::stream::depth);

or:

rs2::pipeline pipe;
pipe.start();
rs2::frameset frames;
if (pipe.poll_for_frames(&frames))
{
    rs2::frame depth_frame = frames.first(RS2_STREAM_DEPTH);
    depth_frame.get_data();
}

6. 在后台线程进行处理

rs::context ctx;
rs::device & dev = *ctx.get_device(0);
dev.enable_stream(rs::stream::depth, rs::preset::best_quality);
dev.start();

std::mutex m;
std::deque<std::vector<uint8_t>> queue;
std::thread t([&]() {
    while (true)
    {
        std::vector<uint8_t> frame_copy;
        {
            std::lock_guard<std::mutex> lock(m);
            frame_copy = queue.front();
            queue.front();
        }
        frame_copy.data();
        // Do processing on the frame
    }
});
t.detach();

while (true)
{
    dev.wait_for_frames();
    const auto stream = rs::stream::depth;
    const auto CAPACITY = 5; // allow max latency of 5 frames
    uint8_t bytes_per_pixel = 1;
    switch (dev.get_stream_format(stream))
    {
    case rs::format::raw8:
    case rs::format::y8:
        bytes_per_pixel = 1;
        break;
    case rs::format::z16:
    case rs::format::disparity16:
    case rs::format::yuyv:
    case rs::format::y16:
    case rs::format::raw10:
    case rs::format::raw16:
        bytes_per_pixel = 2;
        break;
    case rs::format::rgb8:
    case rs::format::bgr8:
        bytes_per_pixel = 3;
        break;
    case rs::format::rgba8:
    case rs::format::bgra8:
    case rs::format::xyz32f:
        bytes_per_pixel = 4;
        break;
    }
    auto ptr = (uint8_t*)dev.get_frame_data(rs::stream::depth);
    std::vector<uint8_t> frame_copy( // Deep-copy the frame data
        ptr, ptr + dev.get_stream_width(stream) *
                   dev.get_stream_height(stream) *
                   bytes_per_pixel);
    {
        std::lock_guard<std::mutex> lock(m);
        if (queue.size() < CAPACITY)
	        queue.push_back(frame_copy);
    }
}

or:

rs2::pipeline pipe;
pipe.start();

const auto CAPACITY = 5; // allow max latency of 5 frames
rs2::frame_queue queue(CAPACITY);
std::thread t([&]() {
    while (true)
    {
        rs2::depth_frame frame;
        if (queue.poll_for_frame(&frame))
        {
	        frame.get_data();
	        // Do processing on the frame
        }
    }
});
t.detach();

while (true)
{
    auto frames = pipe.wait_for_frames();
    queue.enqueue(frames.get_depth_frame());
}

7.获取并应用深度-色彩的坐标变换参数

rs::context ctx;
rs::device & dev = *ctx.get_device(0);
dev.enable_stream(rs::stream::color, rs::preset::best_quality);
dev.enable_stream(rs::stream::depth, rs::preset::best_quality);
dev.start();
rs::extrinsics e = dev.get_extrinsics(rs::stream::depth, rs::stream::color);
// Apply extrinsics to the origin
auto color_point = e.transform({ 0.f, 0.f, 0.f });

或：

rs2::pipeline pipe;
rs2::pipeline_profile selection = pipe.start();
auto depth_stream = selection.get_stream(RS2_STREAM_DEPTH);
auto color_stream = selection.get_stream(RS2_STREAM_COLOR);
rs2_extrinsics e = depth_stream.get_extrinsics_to(color_stream);
// Apply extrinsics to the origin
float origin[3] { 0.f, 0.f, 0.f };
float target[3];
rs2_transform_point_to_point(target, &e, origin);

8. 获取视差基线值

（技术说明：该参数表示深度传感器中左右红外摄像头的光心水平距离，单位为毫米，用于视差(disparity)到深度(depth)的换算，公式为：深度 = (焦距 × 基线) / 视差）

rs::context ctx;
rs::device & dev = *ctx.get_device(0);
dev.enable_stream(rs::stream::infrared, rs::preset::best_quality);
dev.enable_stream(rs::stream::infrared2, rs::preset::best_quality);
dev.start();
rs_extrinsics e = dev.get_extrinsics(rs::stream::infrared, rs::stream::infrared2);
auto baseline = e.translation[0];

或：

rs2::config cfg;
cfg.enable_stream(RS2_STREAM_INFRARED, 1);
cfg.enable_stream(RS2_STREAM_INFRARED, 2);
rs2::pipeline pipe;
rs2::pipeline_profile selection = pipe.start(cfg);
auto ir1_stream = selection.get_stream(RS2_STREAM_INFRARED, 1);
auto ir2_stream = selection.get_stream(RS2_STREAM_INFRARED, 2);
rs2_extrinsics e = ir1_stream.get_extrinsics_to(ir2_stream);
auto baseline = e.translation[0];

9. 获取视频流内参

（技术说明：该操作返回相机内参矩阵，包含焦距(fx/fy)、光学中心(cx/cy)和畸变系数，用于2D像素坐标与3D空间坐标的相互转换）

rs::context ctx;
rs::device & dev = *ctx.get_device(0);
dev.enable_stream(rs::stream::infrared, rs::preset::best_quality);
dev.enable_stream(rs::stream::infrared2, rs::preset::best_quality);
dev.start();

rs::intrinsics i = dev.get_stream_intrinsics(rs::stream::depth);
auto principal_point = std::make_pair(i.ppx, i.ppy);
auto focal_length = std::make_pair(i.fx, i.fy);
auto resolution = std::make_pair(i.width, i.height);
rs_distortion model = i.model;

或：

rs2::pipeline pipe;
rs2::pipeline_profile selection = pipe.start();
auto depth_stream = selection.get_stream(RS2_STREAM_DEPTH)
                             .as<rs2::video_stream_profile>();
auto resolution = std::make_pair(depth_stream.width(), depth_stream.height());
auto i = depth_stream.get_intrinsics();
auto principal_point = std::make_pair(i.ppx, i.ppy);
auto focal_length = std::make_pair(i.fx, i.fy);
rs2_distortion model = i.model;

10.获取视场角

（技术说明：该操作返回相机的水平(Horizontal)、垂直(Vertical)和对角线(Diagonal)视场角度数，单位为度，用于确定成像范围的空间覆盖范围）

典型输出格式：

HFOV: 水平视场角 (如86°)

VFOV: 垂直视场角 (如57°)

DFOV: 对角线视场角 (如94°)

rs::context ctx;
rs::device & dev = *ctx.get_device(0);
dev.enable_stream(rs::stream::infrared, rs::preset::best_quality);
dev.enable_stream(rs::stream::infrared2, rs::preset::best_quality);
dev.start();

rs::intrinsics i = dev.get_stream_intrinsics(rs::stream::depth);
float fov[2] = { i.hfov, i.vfov };

或：

rs2::pipeline pipe;
rs2::pipeline_profile selection = pipe.start();
auto depth_stream = selection.get_stream(RS2_STREAM_DEPTH)
                             .as<rs2::video_stream_profile>();
auto i = depth_stream.get_intrinsics();
float fov[2]; // X, Y fov
rs2_fov(&i, fov);

11.获取深度单位

（技术说明：该操作返回深度值的单位换算系数，表示每个深度值单位对应的实际物理距离（通常为毫米或米），用于将原始深度数据转换为实际物理距离）

典型返回值：

0.001 表示1个深度单位=1毫米

1.0 表示1个深度单位=1米

rs::context ctx;
rs::device & dev = *ctx.get_device(0);
dev.enable_stream(rs::stream::infrared, rs::preset::best_quality);
dev.enable_stream(rs::stream::infrared2, rs::preset::best_quality);
dev.start();

auto scale = dev.get_depth_scale();

或

rs2::pipeline pipe;
rs2::pipeline_profile selection = pipe.start();

// Find first depth sensor (devices can have zero or more then one)
auto sensor = selection.get_device().first<rs2::depth_sensor>();
auto scale =  sensor.get_depth_scale();

12.

控制激光器

（技术说明：该操作用于动态调节深度传感器激光发射器的功率或开关状态，以平衡精度与功耗需求）

典型控制参数：

激光功率（0-100%）：
cpp

device.set_option(RS2_OPTION_LASER_POWER, value); // 设置功率百分比

激光开关：
cpp

device.set_option(RS2_OPTION_EMITTER_ENABLED, 0/1);  // 0关闭,1开启

应用场景：

高精度模式（100%功率）

低功耗模式（≤15%功率）

完全关闭（减少红外干扰）

安全注意：

避免直视激活的激光发射器

超过15%功率时需符合IEC 60825-1 Class 1安全标准

rs::context ctx;
rs::device & dev = *ctx.get_device(0);

if (dev.supports_option(rs::option::r200_emitter_enabled)) // For R200 family
{
    dev.set_option(rs::option::r200_emitter_enabled, 1.f); // Enable laser emitter
    dev.set_option(rs::option::r200_emitter_enabled, 0.f); // Disable laser
}
if (dev.supports_option(rs::option::f200_laser_power)) // For F200 and SR300
{
    double min, max, step; // Query min and max values:
    dev.get_option_range(rs::option::f200_laser_power, min, max, step);
    dev.set_option(rs::option::f200_laser_power, max); // Enable laser (max power)
    dev.set_option(rs::option::f200_laser_power, 0.f); // Disable laser emitter
}

或：

rs2::pipeline pipe; 
rs2::pipeline_profile selection = pipe.start();
rs2::device selected_device = selection.get_device();
auto depth_sensor = selected_device.first<rs2::depth_sensor>();

if (depth_sensor.supports(RS2_OPTION_EMITTER_ENABLED))
{
    depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED, 1.f); // Enable emitter
    depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED, 0.f); // Disable emitter
}
if (depth_sensor.supports(RS2_OPTION_LASER_POWER))
{
    // Query min and max values:
    auto range = depth_sensor.get_option_range(RS2_OPTION_LASER_POWER);
    depth_sensor.set_option(RS2_OPTION_LASER_POWER, range.max); // Set max power
    depth_sensor.set_option(RS2_OPTION_LASER_POWER, 0.f); // Disable laser
}