QT RealSense摄像头的视频流可以通过使用Intel RealSense SDK来实现。以下是基本步骤:
- 下载和安装RealSense SDK。
- 在QT项目中包含RealSense SDK的头文件和库文件。
- 创建一个QMainWindow或QDialog,并添加一个QLabel用于显示视频流。
- 使用rs::context类初始化RealSense设备。
- 打开深度、颜色和红外相机流,设置它们的分辨率、帧速率等属性。
- 在主循环中,读取帧并将其转换为OpenCV Mat格式以便在Qt中显示。
以下是示例代码:
#include <QMainWindow>
#include <QLabel>
#include <opencv2/opencv.hpp>
#include <librealsense2/rs.hpp>
class MainWindow : public QMainWindow
{
Q_OBJECT
public:
MainWindow(QWidget *parent = nullptr) : QMainWindow(parent)
{
// Create QLabel for displaying video stream
m_label = new QLabel(this);
setCentralWidget(m_label);
// Initialize RealSense context and device
m_context = new rs2::context();
rs2::device_list devices = m_context->query_devices();
if (devices.size() == 0) {
qDebug() << "No RealSense devices found";
return;
}
m_device = new rs2::device(devices.front());
// Enable depth, color, and infrared streams
rs2::config cfg;
cfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);
cfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8, 30);
cfg.enable_stream(RS2_STREAM_INFRARED, 1, 640, 480, RS2_FORMAT_Y8, 30);
m_pipe = new rs2::pipeline(*m_context);
m_profile = m_pipe->start(cfg);
// Start main loop
QTimer *timer = new QTimer(this);
connect(timer, SIGNAL(timeout()), this, SLOT(update()));
timer->start(10); // Update every 10ms
}
private slots:
void update()
{
// Wait for next frame
rs2::frameset frames = m_pipe->wait_for_frames();
// Convert depth and color frames to OpenCV Mat format
rs2::frame depth_frame = frames.get_depth_frame();
cv::Mat depth_mat(cv::Size(depth_frame.as<rs2::video_frame>().get_width(),
depth_frame.as<rs2::video_frame>().get_height()),
CV_16UC1,
(void*)depth_frame.get_data(),
cv::Mat::AUTO_STEP);
rs2::frame color_frame = frames.get_color_frame();
cv::Mat color_mat(cv::Size(color_frame.as<rs2::video_frame>().get_width(),
color_frame.as<rs2::video_frame>().get_height()),
CV_8UC3,
(void*)color_frame.get_data(),
cv::Mat::AUTO_STEP);
// Display color stream in QLabel
QImage qimg((uchar*)color_mat.data,
color_mat.cols,
color_mat.rows,
color_mat.step,
QImage::Format_RGB888);
m_label->setPixmap(QPixmap().fromImage(qimg));
}
private:
QLabel *m_label;
rs2::context *m_context;
rs2::device *m_device;
rs2::pipeline *m_pipe;
rs2::pipeline_profile m_profile;
};
int main(int argc, char *argv[])
{
QApplication app(argc, argv);
MainWindow window;
window.show();
return app.exec();
}