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代码框架
#include <librealsense2/rs.hpp>
#include "example-imgui.hpp"
// 定义投影方向
enum class direction
{to_depth,to_color
};
// Forward definition of UI rendering, implemented below
void render_slider(rect location, float* alpha, direction* dir);
int main(int argc, char * argv[]) try
112 cvlife.net
{std::string serial;if (!device_with_streams({ RS2_STREAM_COLOR,RS2_STREAM_DEPTH }, 
serial))return EXIT_SUCCESS;// Create and initialize GUI related objectswindow app(1280, 720, "RealSense Align Example"); // Simple 
window handlingImGui_ImplGlfw_Init(app, false); // ImGui library 
intializitionrs2::colorizer c; // Helper to colorize depth 
imagestexture depth_image, color_image; // Helpers for renderig 
images// Create a pipeline to easily configure and start the camerars2::pipeline pipe;rs2::config cfg;if (!serial.empty())cfg.enable_device(serial);cfg.enable_stream(RS2_STREAM_DEPTH);cfg.enable_stream(RS2_STREAM_COLOR);pipe.start(cfg);// 定义两种投影方向rs2::align align_to_depth(RS2_STREAM_DEPTH);rs2::align align_to_color(RS2_STREAM_COLOR);// 透明度系数float alpha = 0.5f; // Transparancy 
coefficient// 默认从彩色图投影到深度图direction dir = direction::to_depth; // Alignment directionwhile (app) // Application still alive?{// Using the align object, we block the application until a 
frameset is availablers2::frameset frameset = pipe.wait_for_frames();if (dir == direction::to_depth){// Align all frames to depth viewport
113 cvlife.netframeset = align_to_depth.process(frameset);}else{// Align all frames to color viewportframeset = align_to_color.process(frameset);}// With the aligned frameset we proceed as usualauto depth = frameset.get_depth_frame();auto color = frameset.get_color_frame();auto colorized_depth = c.colorize(depth);glEnable(GL_BLEND);// Use the Alpha channel for blendingglBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);if (dir == direction::to_depth){// When aligning to depth, first render depth image// and then overlay color on top with transparancydepth_image.render(colorized_depth, { 0, 0, app.width(), 
app.height() });color_image.render(color, { 0, 0, app.width(), 
app.height() }, alpha);}else{// When aligning to color, first render color image// and then overlay depth image on topcolor_image.render(color, { 0, 0, app.width(), 
app.height() });depth_image.render(colorized_depth, { 0, 0, app.width(), 
app.height() }, 1 - alpha);}glColor4f(1.f, 1.f, 1.f, 1.f);glDisable(GL_BLEND);// Render the UI:ImGui_ImplGlfw_NewFrame(1);render_slider({ 15.f, app.height() - 60, app.width() - 30, 
app.height() }, &alpha, &dir);ImGui::Render();
114 cvlife.net}return EXIT_SUCCESS;