taketwo / rs Goto Github PK

Hey Taketwo,

Wanted to ask you which version of RSSDK you were using.

I'm on the latest version (r4_6.0.21.6598 on Windows) and I'm facing some issues.

First, I noticed that there are no include and lib folders in the root of the RSSDK_DIR directory/folder.

However, there is an include folder at ${RSSDK_DIR}/opensource/include.
There also seems to be an src folder at ${RSSDK_DIR}/opensource/src which looks like this:

src
└── libpxc      
 └── libpxc.cpp

I changed line 24 in FindRSSDK from set(RSSDK_INCLUDE_DIRS ${RSSDK_DIR}/include)
to set(RSSDK_INCLUDE_DIRS ${RSSDK_DIR}/opensource/include) to solve some cmake errors, but can't seem to fix the lib folder issue in libraries.

Trying to throw in libpxc and libpxc.cpp into a new folder ${RSSDK_DIR}/lib didn't help.

Here's the error cmake throws: (using CMake 3.3.1)

CMake Error at C:/Program Files (x86)/CMake/share/cmake-3.3/Modules/FindPackageHandleStandardArgs.cmake:148 (message):
  Could NOT find RSSDK (missing: RSSDK_LIBRARIES) (found version
  "6.0.21.6598")
Call Stack (most recent call first):
  C:/Program Files (x86)/CMake/share/cmake-3.3/Modules/FindPackageHandleStandardArgs.cmake:388 (_FPHSA_FAILURE_MESSAGE)
  cmake/Modules/FindRSSDK.cmake:60 (find_package_handle_standard_args)
  CMakeLists.txt:11 (find_package)

And the CMakeOutput.txt in case it might be of any help.

I would appreciate any help possible.

Thanks!

On a WIN8.1 it has problems with finding real_sensoe.lib, but its made already .. Is that an config error?

Hi,

I'm trying to create a CLI/.dll which can grab and save a pointcloud to PCD. For this I do not need to visualize anything.

I was trying to pull it straight from real_sense_grabber.cpp to try and hack something together, but it doesn't seem to be working out.

//real_sense_grabber.cpp

void
pcl::RealSenseGrabber::run ()
{
  ...
  while (is_running_)
  {
    pcl::PointCloud<pcl::PointXYZ>::Ptr xyz_cloud;
    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr xyzrgba_cloud;

    pxcStatus status;
    ...
    switch (status)
    {
    case PXC_STATUS_NO_ERROR:
    {
     ...

          //Save cloud
      boost::format fmt("RS_%s_%u.pcd");
      std::string fn = boost::str(fmt % getDeviceSerialNumber().c_str() % xyz_cloud->header.stamp);
      pcl::io::savePCDFileBinaryCompressed(fn, *xyz_cloud);

          this->stop(); //Stop running grabber (pcl::RealSenseGrabber::stop())
         break;
    }
    ...
    }
    ...
  }
  ...
}

//other_script.cpp
...
pcl::RealSenseGrabber grabber (device_id);
grabber.start();
...

I was hoping you could guide me towards the correct way of how I should go about achieving this.

Thanks.

if you could add support for the playback of streaming sequences
would be supper helpful.
thanks

I set up the project by using PCL 1.7.2 and its depended libraries, but I get the following errors

Severity Code Description Project File Line
Error LNK2019 unresolved external symbol _PXCSession_Create@0 referenced in function "public: static class PXCSession * __cdecl PXCSession::CreateInstance(void)" (?CreateInstance@PXCSession@@SAPAV1@XZ) real_sense_viewer C:--\Visual Studio 2015\Projects\rs\build\real_sense.lib(real_sense_device_manager.obj) 1
Error LNK1120 1 unresolved externals real_sense_viewer C:--\Visual Studio 2015\Projects\rs\build\Debug\real_sense_viewer.exe 1

I built the VS solution in cmake (the only warnings I got were for OpenNI, which I don't have installed, but no errors or conflicts). I built it for an x86 build on a 64-bit.

Hey guys,
Upon building with VS2015 x64, I'm unable to run real_sense_viewer.exe.

On passing the flag --list, my R200 shows up correctly, but the nothing seems to happen after the "Creating the grabber" output.

Will appreciate your guidance.
Thanks!

Hey Alexey,

I just got my R200 yesterday (F200 still working fine) and there seems to be an issue with the profile currently being set in the RealSenseGrabber. I'm going to play around and see what I can come up with but the values, although hard-coded, look incredibly neutral and align with available modes on the camera. If you have any ideas please do let me know.

Thanks

Hi, i want to use realsense-sdk face-tracking module to get head pose and position when i use rs_grabber to obtain the head point-cloud, but i have no idea how to do it.

Does it should work with PCL 1.8.0 (VTK version 7.0.0 which seems incompatible)?

Summary (from issue #3 ): With the R200 camera there appears to be a banding of colours when working with colour and depth streams as demonstrated below. This issue seems to be intrinsically linked to the camera itself and does not exist when using dissimilarly sized streams on the the F200 camera. The colours represented seem correct (tested by changing the primary colour in front of the device) but the order appears to be wrong.

I'm wondering how hard it would be to modify this grabber for Linux. I need SR300 support and the ROS RealSense integration is only for R200. It seems like there is a need for RealSense integration for PCL but there is a lack of contributers.

I finished installing PCL 1.8.1 and it contains vtk 8.0, working well
However while compiling this project
I meet :

The following configuration files were considered but not accepted:

C:/Program Files/PCL 1.8.1/3rdParty/VTK/lib/cmake/vtk-8.0/VTKConfig.cmake, version: 8.0.0 (64bit)

This code is for windows. any version of this pointcloud grabber for linux? Does the rs grabber added to pcl 1.8 support linux?

I'm getting a configuration error when trying to build this which seems to be coming from the RSSDK side of things. The end of cmake (following the instructions to the letter) looks like this...
-- Found RSSDK: C:/Program Files (x86)/Intel/RSSDK/lib/x64/libpxc.lib
-- RealSense SDK found (include: C:/Program Files (x86)/Intel/RSSDK/include, lib
s: optimized;debug)
-- RealSense SDK version: 4.0.0.52526
CMake Warning (dev) at CMakeLists.txt:37 (target_link_libraries):
Link library type specifier "optimized" is followed by specifier "debug"
instead of a library name. The first specifier will be ignored.
This warning is for project developers. Use -Wno-dev to suppress it.

CMake Error at CMakeLists.txt:37 (target_link_libraries):
The "debug" argument must be followed by a library.

-- Configuring incomplete, errors occurred!

The log file shows 0 Warning & 0 Errors for each element up to this point. Any help would be much appreciated.

If I rerun the same cmake command it makes some project files but they then won't build due to missing libraries, I'm guessing, because the configuration was incomplete.