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Hello

I am working with the RealSense R200 camera using Visual Studio(c++) and opencv. I need to use OpenCV to do image processing so I converted the PXCImage * into cv::Mat. But, as you can see, the two images are different.

My main problem is each pixel in my image when object closer camera it show black but in demo it show white.

Does anybody can help me?

Demo in realsense:

Result of my code use opencv:

    void main() {  
Mat imageColor;  
Mat imageDepth;  


// Create a PXCSenseManager instance  
PXCSenseManager *sm = PXCSenseManager::CreateInstance();  


// Select the color stream  
sm->EnableStream(PXCCapture::STREAM_TYPE_COLOR, 640, 480, 30);  
sm->EnableStream(PXCCapture::STREAM_TYPE_DEPTH, 320, 240, 30);  
// Initialize and Stream Samples  
sm->Init();  


for (;;) {  
// This function blocks until a color sample is ready  
if (sm->AcquireFrame(true)<PXC_STATUS_NO_ERROR) break;  

// retrieve the sample  
PXCCapture::Sample *sample = sm->QuerySample();  
if (sample->color != NULL) {  
ConvertPXCImageToOpenCVMat(sample->color, &imageColor);  
namedWindow("imageColor", CV_WINDOW_AUTOSIZE);   
imshow("imageColor", imageColor);  
}  
if (sample->depth != NULL) {  
ConvertPXCImageToOpenCVMat(sample->depth, &imageDepth);  
imageDepth.convertTo(imageDepth, CV_8U, 255.0 / 4096.0);  

namedWindow("imageDepth", CV_WINDOW_AUTOSIZE);  
imshow("imageDepth", imageDepth);  
}  


if (waitKey(1) >= 0) break;  
sm->ReleaseFrame();  
}  
// Close down  
sm->Release();  
}  


//ConvertPXCImageToOpenCVMat From https://stackoverflow.com/questions/37266390/how-to-convert-realsense-rgb-frame-to-cvmat-in-ubuntu-or-other-linux-env  
void ConvertPXCImageToOpenCVMat(PXCImage *inImg, Mat *outImg) {  
int cvDataType;  
int cvDataWidth;  



PXCImage::ImageData data;  
inImg->AcquireAccess(PXCImage::ACCESS_READ, &data);  
PXCImage::ImageInfo imgInfo = inImg->QueryInfo();  
switch (data.format) {  
/* STREAM_TYPE_COLOR */  
case PXCImage::PIXEL_FORMAT_YUY2: /* YUY2 image  */  
case PXCImage::PIXEL_FORMAT_NV12: /* NV12 image */  
throw(0); // Not implemented  
case PXCImage::PIXEL_FORMAT_RGB32: /* BGRA layout on a little-endian machine */  
cvDataType = CV_8UC4;  
cvDataWidth = 4;  
break;  
case PXCImage::PIXEL_FORMAT_RGB24: /* BGR layout on a little-endian machine */  
cvDataType = CV_8UC3;  
cvDataWidth = 3;  
break;  
case PXCImage::PIXEL_FORMAT_Y8:  /* 8-Bit Gray Image, or IR 8-bit */  
cvDataType = CV_8U;  
cvDataWidth = 1;  
break;  


/* STREAM_TYPE_DEPTH */  
case PXCImage::PIXEL_FORMAT_DEPTH: /* 16-bit unsigned integer with precision mm. */  
case PXCImage::PIXEL_FORMAT_DEPTH_RAW: /* 16-bit unsigned integer with device specific precision (call device->QueryDepthUnit()) */  
cvDataType = CV_16U;//cv16u  
cvDataWidth = 2;  
break;  
case PXCImage::PIXEL_FORMAT_DEPTH_F32: /* 32-bit float-point with precision mm. */  
cvDataType = CV_32F;  
cvDataWidth = 4;  
break;  


/* STREAM_TYPE_IR */  
case PXCImage::PIXEL_FORMAT_Y16:          /* 16-Bit Gray Image */  
cvDataType = CV_16U;  
cvDataWidth = 2;  
break;  
case PXCImage::PIXEL_FORMAT_Y8_IR_RELATIVE:    /* Relative IR Image */  
cvDataType = CV_8U;  
cvDataWidth = 1;  
break;  
}  


// suppose that no other planes  
if (data.planes[1] != NULL) throw(0); // not implemented  
 // suppose that no sub pixel padding needed  
if (data.pitches[0] % cvDataWidth != 0) throw(0); // not implemented  


outImg->create(imgInfo.height, data.pitches[0] / cvDataWidth, cvDataType);  


memcpy(outImg->data, data.planes[0], imgInfo.height*imgInfo.width*cvDataWidth * sizeof(pxcBYTE));  
inImg->ReleaseAccess(&data);  
}