c++ - 如何使用 C++ 和英特尔 API 将 .JSON 文件加载到 RealSense D435 相机

Question

我正在尝试调整我的深度相机 (RealSense D435) 以获得更好/不同的深度数据。因此，我想尝试使用英特尔建议参数配置中的不同预设，如 the intel SDK 中所述。 .英特尔建议使用预设，不要尝试自己调整和摆弄 50 多个参数。

尽管我很想忽略英特尔的评论，但我什至无法上传/读取/处理作为 .JSON 文件 (C++) 提供的预设配置预设。谁能展示一个代码片段，其中 .JSON 文件成功用于更改 Realsense D400 系列相机生成的深度图像的高级设置？

Answer 1

我找到了如何做到这一点，这里是代码片段，包括一些必须放在 Main() 中的额外图像检索代码:

// Obtain a list of devices currently present on the system
context ctx;
auto devices = ctx.query_devices();
size_t device_count = devices.size();
if (!device_count)
{
    cout <<"No device detected. Is it plugged in?\n";
    return EXIT_SUCCESS;
}

// Get the first connected device
auto dev = devices[0];

// Enter advanced mode
   if (dev.is<rs400::advanced_mode>())
   {
       // Get the advanced mode functionality
       auto advanced_mode_dev = dev.as<rs400::advanced_mode>();

       // Load and configure .json file to device
       ifstream t("./presets/ShortRangePreset.json");
       string str((istreambuf_iterator<char>(t)), istreambuf_iterator<char>());
       advanced_mode_dev.load_json(str);
   }
   else
   {
       cout << "Current device doesn't support advanced-mode!\n";
       return EXIT_FAILURE;
   }

//Contruct a pipeline which abstracts the device
    rs2::pipeline pipe;
    rs2::device selected_device = dev;
    auto depth_sensor = selected_device.first<rs2::depth_sensor>();

    //Create a configuration for configuring the pipeline with a non default profile
    rs2::config cfg;

    //Add desired streams to configuration
    cfg.enable_stream(RS2_STREAM_INFRARED,  ImageWidth_px, ImageHeight_px, RS2_FORMAT_Y8, FrameRate);
    cfg.enable_stream(RS2_STREAM_DEPTH,     ImageWidth_px, ImageHeight_px, RS2_FORMAT_Z16, FrameRate);

    //Instruct pipeline to start streaming with the requested configuration
    pipe.start(cfg);

    // Camera warmup - dropping several first frames to let auto-exposure stabilize
    rs2::frameset frames;
    for(int i = 0; i < 5; i++)
    {
        //Wait for all configured streams to produce a frame
        frames = pipe.wait_for_frames();
    }

    bool quit = false;
    char key;

    while (!quit){

        frames = pipe.wait_for_frames();

        //Get each frame
        rs2::frame          ir_frame    = frames.first(RS2_STREAM_INFRARED);
        rs2::depth_frame    depth_frame = frames.get_depth_frame();

        // Creating OpenCV matrix from IR image
        Mat ir      (Size(ImageWidth_px, ImageHeight_px), CV_8UC1,  (void*)ir_frame.get_data(),     Mat::AUTO_STEP);
        Mat depth   (Size(ImageWidth_px, ImageHeight_px), CV_16UC1, (void*)depth_frame.get_data(),  Mat::AUTO_STEP);

        // etc the rest of your code on how you want to edit/process the images
        }