QT版本是5.5
glfw安装教程：https://blog.csdn.net/parry_liu/article/details/73801097
realsense安装教程：https://blog.csdn.net/Sparta_117/article/details/77851876
一下是官方的例子：
.pro文件：
INCLUDEPATH += /usr/local/include \
/usr/local/include/opencv \
/usr/local/include/opencv2\
/usr/local/include/librealsense2\
LIBS += /usr/local/lib/libopencv_calib3d.so \
/usr/local/lib/libopencv_core.so \
/usr/local/lib/libopencv_features2d.so \
/usr/local/lib/libopencv_flann.so \
/usr/local/lib/libopencv_highgui.so \
/usr/local/lib/libopencv_imgcodecs.so \
/usr/local/lib/libopencv_imgproc.so \
/usr/local/lib/libopencv_ml.so \
/usr/local/lib/libopencv_objdetect.so \
/usr/local/lib/libopencv_photo.so \
/usr/local/lib/libopencv_shape.so \
/usr/local/lib/libopencv_stitching.so \
/usr/local/lib/libopencv_superres.so \
/usr/local/lib/libopencv_videoio.so \
/usr/local/lib/libopencv_video.so \
/usr/local/lib/libopencv_videostab.so\
/usr/local/lib/librealsense2.so
LIBS += -lglut -lGLU -lGL\
-lpthread
LIBS+= -L/usr/local/lib -lglfw3
main.cpp文件:
#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
#include "example.hpp" // Include short list of convenience functions for rendering
#include <algorithm> // std::min, std::max
// Helper functions
void register_glfw_callbacks(window& app, glfw_state& app_state);
int main(int argc, char * argv[]) try
{
// Create a simple OpenGL window for rendering:
window app(1280, 720, "RealSense Pointcloud Example");
// Construct an object to manage view state
glfw_state app_state;
// register callbacks to allow manipulation of the pointcloud
register_glfw_callbacks(app, app_state);
// Declare pointcloud object, for calculating pointclouds and texture mappings
rs2::pointcloud pc;
// We want the points object to be persistent so we can display the last cloud when a frame drops
rs2::points points;
// Declare RealSense pipeline, encapsulating the actual device and sensors
rs2::pipeline pipe;
// Start streaming with default recommended configuration
pipe.start();
while (app) // Application still alive?
{
// Wait for the next set of frames from the camera
auto frames = pipe.wait_for_frames();
auto depth = frames.get_depth_frame();
// Generate the pointcloud and texture mappings
points = pc.calculate(depth);
auto color = frames.get_color_frame();
// Tell pointcloud object to map to this color frame
pc.map_to(color);
// Upload the color frame to OpenGL
app_state.tex.upload(color);
// Draw the pointcloud
draw_pointcloud(app.width(), app.height(), app_state, points);
}
return EXIT_SUCCESS;
}
catch (const rs2::error & e)
{
std::cerr << "RealSense error calling " << e.get_Failed_function() << "(" << e.get_Failed_args() << "):\n " << e.what() << std::endl;
return EXIT_FAILURE;
}
catch (const std::exception & e)
{
std::cerr << e.what() << std::endl;
return EXIT_FAILURE;
}
一个坑
在编译的适合报错了：
/usr/bin/ld: //usr/local/lib/libglfw3.a(vulkan.c.o): undefined reference to symbol 'dlclose@@GLIBC_2.2.5'
//lib/x86_64-linux-gnu/libdl.so.2: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status强行百度了一番 发现 .pro文件还要加上 ：
LIBS+=-L/usr/local/lib -lglfw3 -lX11 -lXrandr -lXinerama -lXi -lXxf86vm -lXcursor -lGL -lpthread -ldl
就可以执行成功了。
