Merge pull request opencv#21279 from cabelo:new-example-intelrealsense

Author: alalek

doc/tutorials/app/intelperc.markdown

@@ -83,5 +83,5 @@ there are two flags that should be used to set/get property of the needed genera
     flag value is assumed by default if neither of the two possible values of the property is set.
 
 For more information please refer to the example of usage
-[videocapture_intelperc.cpp](https://github.com/opencv/opencv/tree/master/samples/cpp/videocapture_intelperc.cpp)
+[videocapture_realsense.cpp](https://github.com/opencv/opencv/tree/master/samples/cpp/videocapture_realsense.cpp)
 in opencv/samples/cpp folder.

samples/cpp/videocapture_intelperc.cpp

@@ -0,0 +1,33 @@
+#include "opencv2/videoio.hpp"
+#include "opencv2/highgui.hpp"
+#include "opencv2/imgproc.hpp"
+
+using namespace cv;
+using namespace std;
+
+int main()
+{
+   VideoCapture capture(CAP_INTELPERC);
+   for(;;)
+   {
+      Mat depthMap;
+      Mat image;
+      Mat irImage;
+      Mat adjMap;
+
+      capture.grab();
+      capture.retrieve(depthMap,CAP_INTELPERC_DEPTH_MAP);
+      capture.retrieve(image,CAP_INTELPERC_IMAGE);
+      capture.retrieve(irImage,CAP_INTELPERC_IR_MAP);
+
+      normalize(depthMap, adjMap, 0, 255, NORM_MINMAX, CV_8UC1);
+      applyColorMap(adjMap, adjMap, COLORMAP_JET);
+
+      imshow("RGB", image);
+      imshow("IR", irImage);
+      imshow("DEPTH", adjMap);
+      if( waitKey( 30 ) >= 0 )
+         break;
+   }
+   return 0;
+}