cvQueryFrame 接受 cvCapture 实例,它用于从相机中检索帧。在 LibRS 中,您检索回来的框架已经可以使用,您不必再次取回它。附上 LibRS 中的 CV 示例片段,您可以在此处参考完整代码
rs2::pipeline pipe;
// Start streaming with default recommended configuration
pipe.start();
using namespace cv;
const auto window_name = "Display Image";
namedWindow(window_name, WINDOW_AUTOSIZE);
while (waitKey(1) < 0 && cvGetWindowHandle(window_name))
{
rs2::frameset data = pipe.wait_for_frames(); // Wait for next set of frames from the camera
rs2::frame depth = color_map(data.get_depth_frame());
// Query frame size (width and height)
const int w = depth.as<rs2::video_frame>().get_width();
const int h = depth.as<rs2::video_frame>().get_height();
// Create OpenCV matrix of size (w,h) from the colorized depth data
Mat image(Size(w, h), CV_8UC3, (void*)depth.get_data(), Mat::AUTO_STEP);
// Update the window with new data
imshow(window_name, image);
}