在奥比中光提供的sdk中没有直接使用opencv读取显示视频流的功能，参照案例与代码写了一个opencv显示奥比中光可见光流的cpp代码

代码：

#include "libobsensor/hpp/Pipeline.hpp"
#include "libobsensor/hpp/Error.hpp"const char *metaDataTypes[] = { "TIMESTAMP","SENSOR_TIMESTAMP","FRAME_NUMBER","AUTO_EXPOSURE","EXPOSURE","GAIN","AUTO_WHITE_BALANCE","WHITE_BALANCE","BRIGHTNESS","CONTRAST","SATURATION","SHARPNESS","BACKLIGHT_COMPENSATION","HUE","GAMMA","POWER_LINE_FREQUENCY","LOW_LIGHT_COMPENSATION","MANUAL_WHITE_BALANCE","ACTUAL_FRAME_RATE","FRAME_RATE","AE_ROI_LEFT","AE_ROI_TOP","AE_ROI_RIGHT","AE_ROI_BOTTOM","EXPOSURE_PRIORITY","HDR_SEQUENCE_NAME","HDR_SEQUENCE_SIZE","HDR_SEQUENCE_INDEX","LASER_POWER","LASER_POWER_LEVEL","LASER_STATUS","GPIO_INPUT_DATA" };int main(int argc, char **argv) try {// Create a pipeline with default deviceob::Pipeline pipe;// Configure which streams to enable or disable for the Pipeline by creating a Configstd::shared_ptr<ob::Config> config = std::make_shared<ob::Config>();config->enableVideoStream(OB_STREAM_COLOR);// Start the pipeline with configpipe.start(config);auto currentProfile = pipe.getEnabledStreamProfileList()->getProfile(0)->as<ob::VideoStreamProfile>();cv::Mat                                 rstMat;// Create a window for rendering, and set the resolution of the windowwhile(1) {// Wait for up to 100ms for a frameset in blocking mode.auto frameSet = pipe.waitForFrames(1000);if(frameSet == nullptr) {continue;}// get color frame from framesetauto colorFrame = frameSet->colorFrame();if(colorFrame == nullptr) {continue;}if(colorFrame->type() == OB_FRAME_COLOR) {auto videoFrame = colorFrame->as<ob::VideoFrame>();switch(videoFrame->format()) {case OB_FORMAT_MJPG: {cv::Mat rawMat(1, videoFrame->dataSize(), CV_8UC1, videoFrame->data());rstMat = cv::imdecode(rawMat, 1);} break;case OB_FORMAT_NV21: {cv::Mat rawMat(videoFrame->height() * 3 / 2, videoFrame->width(), CV_8UC1, videoFrame->data());cv::cvtColor(rawMat, rstMat, cv::COLOR_YUV2BGR_NV21);} break;case OB_FORMAT_YUYV:case OB_FORMAT_YUY2: {cv::Mat rawMat(videoFrame->height(), videoFrame->width(), CV_8UC2, videoFrame->data());cv::cvtColor(rawMat, rstMat, cv::COLOR_YUV2BGR_YUY2);} break;case OB_FORMAT_RGB: {cv::Mat rawMat(videoFrame->height(), videoFrame->width(), CV_8UC3, videoFrame->data());cv::cvtColor(rawMat, rstMat, cv::COLOR_RGB2BGR);} break;case OB_FORMAT_RGBA: {cv::Mat rawMat(videoFrame->height(), videoFrame->width(), CV_8UC4, videoFrame->data());cv::cvtColor(rawMat, rstMat, cv::COLOR_RGBA2BGRA);} break;case OB_FORMAT_BGRA: {rstMat = cv::Mat(videoFrame->height(), videoFrame->width(), CV_8UC4, videoFrame->data());} break;case OB_FORMAT_UYVY: {cv::Mat rawMat(videoFrame->height(), videoFrame->width(), CV_8UC2, videoFrame->data());cv::cvtColor(rawMat, rstMat, cv::COLOR_YUV2BGR_UYVY);} break;case OB_FORMAT_I420: {cv::Mat rawMat(videoFrame->height() * 3 / 2, videoFrame->width(), CV_8UC1, videoFrame->data());cv::cvtColor(rawMat, rstMat, cv::COLOR_YUV2BGR_I420);} break;default:break;}}cv::imshow("ccc",rstMat);cv::waitKey(100);// Render frameset in the window, only color frames are rendered here.}// Stop the Pipeline, no frame data will be generatedpipe.stop();return 0;
}
catch(ob::Error &e) {std::cerr << "function:" << e.getName() << "\nargs:" << e.getArgs() << "\nmessage:" << e.getMessage() << "\ntype:" << e.getExceptionType() << std::endl;exit(EXIT_FAILURE);
}