获取视差图像

视差图像为SDK处理图像，获取视差图像需要 EnableDisparityProcessor 开启视差计算，然后通过回调获取。

参考代码片段：

auto m_pSDK = new CIMRSDK();
MRCONFIG config = {0};
config.bSlam = false;
config.imgResolution = IMG_640;
config.imgFrequency = 50;
config.imuFrequency = 1000;

m_pSDK->Init(config);
std::queue<cv::Mat> disparity_queue;
int disparity_count = 0;
if (m_pSDK->EnableDisparityProcessor()) {
  m_pSDK->EnableLRConsistencyCheck();
  // m_pSDK->SetDepthCalMode(DepthCalMode::HIGH_ACCURACY);
  m_pSDK->RegistDisparityCallback(
      [&disparity_count, &disparity_queue](double time, cv::Mat disparity) {
        if (!disparity.empty()) {
          disparity.convertTo(disparity, CV_8U, 255. / (16 * 64));
          cv::applyColorMap(disparity, disparity, cv::COLORMAP_JET);
          disparity.setTo(0, disparity == -16);
          disparity_queue.push(disparity);
          ++disparity_count;
        }
      });
}
auto &&time_beg = times::now();
while (true) {
  if (!disparity_queue.empty()) {
    cv::imshow("disparity", disparity_queue.front());
    disparity_queue.pop();
  }
  char key = static_cast<char>(cv::waitKey(1));
  if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q
    break;
  }
}
delete m_pSDK;
return 0;

上述代码，用了 OpenCV 来显示图像。选中显示窗口时，按 ESC/Q 就会结束程序。

完整代码样例，请见 _get_disparity.cpp 。