Point Cloud Example

JTray — Tue, 27 Feb 2018 17:40:35 GMT

Hi,

I am just trying to run the point cloud example that comes with the binary sdk 2.1 (most recent binary) install in visual studio but I am getting a build error to do with a function it is using in example.cpp. (Does not take 4 arguments)

draw_pointcloud(app.width(), app.height(), app_state, points);

The function in example.cpp is as follows which only takes 3 parameters. Am I missing something? Is there a problem with the binary install 2.1 SDK? Anyone able to shine a light on this? Thanks

// Handles all the OpenGL calls needed to display the point cloud

void draw_pointcloud(window& app, glfw_state& app_state, rs2::points& points)

{

if (!points)

return;

// OpenGL commands that prep screen for the pointcloud

glPopMatrix();

glPushAttrib(GL_ALL_ATTRIB_BITS);

float width = app.width(), height = app.height();

glClearColor(153.f / 255, 153.f / 255, 153.f / 255, 1);

glClear(GL_DEPTH_BUFFER_BIT);

glMatrixMode(GL_PROJECTION);

glPushMatrix();

gluPerspective(60, width / height, 0.01f, 10.0f);

glMatrixMode(GL_MODELVIEW);

glPushMatrix();

gluLookAt(0, 0, 0, 0, 0, 1, 0, -1, 0);

glTranslatef(0, 0, +0.5f + app_state.offset_y*0.05f);

glRotated(app_state.pitch, 1, 0, 0);

glRotated(app_state.yaw, 0, 1, 0);

glTranslatef(0, 0, -0.5f);

glPointSize(width / 640);

glEnable(GL_DEPTH_TEST);

glEnable(GL_TEXTURE_2D);

glBindTexture(GL_TEXTURE_2D, app_state.tex.get_gl_handle());

float tex_border_color[] = { 0.8f, 0.8f, 0.8f, 0.8f };

glTexParameterfv(GL_TEXTURE_2D, GL_TEXTURE_BORDER_COLOR, tex_border_color);

glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, 0x812F); // GL_CLAMP_TO_EDGE

glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, 0x812F); // GL_CLAMP_TO_EDGE

glBegin(GL_POINTS);

/* this segment actually prints the pointcloud */

auto vertices = points.get_vertices(); // get vertices

auto tex_coords = points.get_texture_coordinates(); // and texture coordinates

for (int i = 0; i < points.size(); i++)

{

if (vertices[i].z)

{

// upload the point and texture coordinates only for points we have depth data for

glVertex3fv(vertices[i]);

glTexCoord2fv(tex_coords[i]);

}

// OpenGL cleanup

glEnd();

glPopMatrix();

glMatrixMode(GL_PROJECTION);

glPopMatrix();

glPopAttrib();

glPushMatrix();

}

Re: Point Cloud Example

idata — Wed, 28 Feb 2018 01:45:26 GMT

Hello TrayJ,

Thanks for posting in the RealSense community.

The error you are been shown is a bug, I have reproduced it on my end.

I have sent the notification to engineering. Thanks for your feedback.

Best Regards,

Juan N.

Re: Point Cloud Example

JTray — Wed, 28 Feb 2018 02:09:49 GMT

Thanks Juan. If they manage to send you a short term fix you might let me know as I would like an example on how best to draw a point cloud

Re: Point Cloud Example

jb455 — Wed, 28 Feb 2018 10:32:57 GMT

From the code you pasted [draw_pointcloud(window& app, glfw_state& app_state, rs2::points& points)] it looks like you should be able to pass app instead of app.width() and app.height() - does that work?

Re: Point Cloud Example

JTray — Wed, 28 Feb 2018 10:56:57 GMT

You are correct. I was looking for the complicated solution. I had looked at an older version of the example.cpp file and it was very different to the current version. I thought somehow an older version was uploaded by mistake. Thanks for the help.

topic Point Cloud Example in Items with no label

Point Cloud Example

Re: Point Cloud Example

Re: Point Cloud Example

Re: Point Cloud Example

Re: Point Cloud Example