Get point image¶
Point images belongs to upper layer of synthetic data.You can get it
through GetStreamData()
.It should be check not empty before use.
Sample code snippet:
auto image_color = cam.GetStreamData(ImageType::IMAGE_LEFT_COLOR);
auto image_depth = cam.GetStreamData(ImageType::IMAGE_DEPTH);
if (image_color.img && image_depth.img) {
cv::Mat color = image_color.img->To(ImageFormat::COLOR_BGR)
->ToMat();
painter.DrawSize(color, CVPainter::TOP_LEFT);
painter.DrawStreamData(color, image_color, CVPainter::TOP_RIGHT);
painter.DrawInformation(color, util::to_string(counter.fps()),
CVPainter::BOTTOM_RIGHT);
cv::Mat depth = image_depth.img->To(ImageFormat::DEPTH_RAW)
->ToMat();
cv::imshow("color", color);
viewer.Update(color, depth);
}
PCL is used to display point images above. Program will close when point image window is closed.
Complete code examples, see get_points.cc.