# 存储示例-SaveToDisk

功能描述：连接设备开流 , 获取彩色和深度图并存储为png格式。

> 本示例基于C++ High Level API进行演示

创建两个函数来用于将获取的图片保存到文件中

//保存深度图为png格式
void saveDepth( std::shared_ptr< ob::DepthFrame > depthFrame ) {
    std::vector< int > compression_params;
    compression_params.push_back( cv::IMWRITE_PNG_COMPRESSION );
    compression_params.push_back( 0 );
    compression_params.push_back( cv::IMWRITE_PNG_STRATEGY );
    compression_params.push_back( cv::IMWRITE_PNG_STRATEGY_DEFAULT );
    std::string depthName = "Depth_" + std::to_string( depthFrame->timeStamp() ) + ".png";
    cv::Mat     depthMat( depthFrame->height(), depthFrame->width(), CV_16UC1, depthFrame->data() );
    cv::imwrite( depthName, depthMat, compression_params );
    std::cout << "Depth saved:" << depthName << std::endl;
}

//保存彩色图为png格式
void saveColor( std::shared_ptr< ob::ColorFrame > colorFrame ) {
    std::vector< int > compression_params;
    compression_params.push_back( cv::IMWRITE_PNG_COMPRESSION );
    compression_params.push_back( 0 );
    compression_params.push_back( cv::IMWRITE_PNG_STRATEGY );
    compression_params.push_back( cv::IMWRITE_PNG_STRATEGY_DEFAULT );
    std::string colorName = "Color_" + std::to_string( colorFrame->timeStamp() ) + ".png";
    cv::Mat     colorRawMat( 1, colorFrame->dataSize(), CV_8UC1, colorFrame->data() );
    cv::Mat     colorMat = cv::imdecode( colorRawMat, 1 );
    cv::imwrite( colorName, colorMat, compression_params );
    std::cout << "Color saved:" << colorName << std::endl;
}

创建一个Pipeline，通过Pipeline可以很容易的打开和关闭多种类型的流并获取一组帧数据

ob::Pipeline pipeline;

然后可以通过Pipeline来获取彩色流和深度流的所有配置, 包括流的分辨率 ,帧率 ,以及流的格式，配置所需要彩色和深度流

try {
    // Get all stream profiles of the color camera, including stream resolution, frame rate, and frame format
    auto                                    colorProfiles = pipeline.getStreamProfileList(OB_SENSOR_COLOR);
    std::shared_ptr<ob::VideoStreamProfile> colorProfile  = nullptr;
    if(colorProfiles) {
        colorProfile = std::const_pointer_cast<ob::StreamProfile>(colorProfiles->getProfile(OB_PROFILE_DEFAULT))->as<ob::VideoStreamProfile>();
    }
    config->enableStream(colorProfile);
}
catch(ob::Error &e) {
    // no Color Sensor
    colorCount = -1;
    std::cerr << "Current device is not support color sensor!" << std::endl;
}

// Get all stream profiles of the depth camera, including stream resolution, frame rate, and frame format
auto                                    depthProfiles = pipeline.getStreamProfileList(OB_SENSOR_DEPTH);
std::shared_ptr<ob::VideoStreamProfile> depthProfile  = nullptr;
if(depthProfiles) {
    depthProfile = std::const_pointer_cast<ob::StreamProfile>(depthProfiles->getProfile(OB_PROFILE_DEFAULT))->as<ob::VideoStreamProfile>();
}
config->enableStream(depthProfile);

启动流

pipeline.start( config );

通过等待的方式来获取帧的数据

auto frameset = pipeline.waitForFrames( 100 )

获取单种类型的帧的数据

auto colorFrame = frameset->colorFrame();
auto depthFrame = frameset->depthFrame();

创建格式转换Filter对彩色图像进行转换成RGB格式后保存

//创建格式转换Filter
ob::FormatConvertFilter formatConverFilter;

formatConverFilter.setFormatConvertType(FORMAT_MJPEG_TO_RGB888);
colorFrame = formatConverFilter.process(colorFrame)->as<ob::ColorFrame>();
formatConverFilter.setFormatConvertType(FORMAT_RGB_TO_BGR);
colorFrame = formatConverFilter.process(colorFrame)->as<ob::ColorFrame>();

通过开头的编辑的存储函数来存储获得的数据

saveColor( colorFrame );
saveDepth( depthFrame );

停止Pipeline

pipeline.stop();

程序正常退出后会释放资源