rs_stream.cpp

#include <librealsense2/rs.hpp>  // Include RealSense Cross Platform API
#include <opencv2/opencv.hpp>    // Include OpenCV API

int main()
{
    // Create a RealSense pipeline, encapsulating the actual device and sensors
    rs2::pipeline pipe;
    
    // Create a configuration for configuring the pipeline with a non default profile
    rs2::config cfg;
    // Enable the color stream with resolution 640x480 at 30 frames per second in BGR format
    cfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8, 30);
    
    // Start streaming with the chosen configuration
    rs2::pipeline_profile profile = pipe.start(cfg);
    
    // Create an OpenCV window to display the color stream
    const std::string window_name = "RealSense Color Stream";
    cv::namedWindow(window_name, cv::WINDOW_AUTOSIZE);
    
    while (true)
    {
        // Wait for the next set of frames from the camera
        rs2::frameset frames = pipe.wait_for_frames();
        // Get a frame from the color stream
        rs2::frame color_frame = frames.get_color_frame();
        
        // Query frame size (width and height)
        const int width = color_frame.as<rs2::video_frame>().get_width();
        const int height = color_frame.as<rs2::video_frame>().get_height();
        
        // Create an OpenCV matrix of size (width, height) with 8-bit unsigned chars and 3 channels (BGR)
        cv::Mat image(cv::Size(width, height), CV_8UC3, (void*)color_frame.get_data(), cv::Mat::AUTO_STEP);
        
        // Display the image in the created window
        cv::imshow(window_name, image);
        
        // Break the loop if any key is pressed (with a delay of 1 ms)
        if (cv::waitKey(1) >= 0)
            break;
    }
    
    return 0;
}