Building examples (capture) realsense D435

[CChuq]

Hi,

I am experiencing problems when trying to build from source the examples provided by intel ( https://github.com/IntelRealSense/librealsense/tree/master/examples librealsense/examples at master · IntelRealSense/librealsense · GitHub ) .

Information about my pc/ setup :

OS : Ubuntu 16.04 LTS

Kernel: 4.15.0-33-generic

History :

First, I installed the realsense sdk following the instructions provided here https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md librealsense/distribution_linux.md at master · IntelRealSense/librealsense · GitHub and here https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md librealsense/installation.md at master · IntelRealSense/librealsense · GitHub , and have been able to run realsense-viewer without any issues.

Then, I tried building the capture example. To do this I created a build directory inside examples/capture and run :

cmake .. -DBUILD_GRAPHICAL_EXAMPLES=true , from examples/capture/build

with the following output:

-- The C compiler identification is GNU 5.4.0

-- The CXX compiler identification is GNU 5.4.0

-- Check for working C compiler: /usr/bin/cc

-- Check for working C compiler: /usr/bin/cc -- works

-- Detecting C compiler ABI info

-- Detecting C compiler ABI info - done

-- Detecting C compile features

-- Detecting C compile features - done

-- Check for working CXX compiler: /usr/bin/c++

-- Check for working CXX compiler: /usr/bin/c++ -- works

-- Detecting CXX compiler ABI info

-- Detecting CXX compiler ABI info - done

-- Detecting CXX compile features

-- Detecting CXX compile features - done

-- Performing Test COMPILER_SUPPORTS_CXX11

-- Performing Test COMPILER_SUPPORTS_CXX11 - Success

-- Performing Test COMPILER_SUPPORTS_CXX0X

-- Performing Test COMPILER_SUPPORTS_CXX0X - Success

-- Configuring done

-- Generating done

-- Build files have been written to: /home/awdw/realsense_install/librealsense/examples/capture/build

Then I run :

make

with the following output:

Scanning dependencies of target rs-capture

[ 50%] Building CXX object CMakeFiles/rs-capture.dir/rs-capture.cpp.o

In file included from /home/awdw/realsense_install/librealsense/examples/capture/rs-capture.cpp:5:0:

/home/awdw/realsense_install/librealsense/examples/capture/../example.hpp: In member function 'rect texture::calc_grid(float2, int)':

/home/awdw/realsense_install/librealsense/examples/capture/../example.hpp:189:40: warning: narrowing conversion of 'w' from 'double' to 'float' inside { } [-Wnarrowing]

return rect{ w, h, new_w, new_h}; //column count, line count, cell width cell height

^

/home/awdw/realsense_install/librealsense/examples/capture/../example.hpp:189:40: warning: narrowing conversion of 'h' from 'double' to 'float' inside { } [-Wnarrowing]

/home/awdw/realsense_install/librealsense/examples/capture/../example.hpp:189:40: warning: narrowing conversion of 'new_w' from 'double' to 'float' inside { } [-Wnarrowing]

/home/awdw/realsense_install/librealsense/examples/capture/../example.hpp:189:40: warning: narrowing conversion of 'new_h' from 'double' to 'float' inside { } [-Wnarrowing]

[100%] Linking CXX executable rs-capture

CMakeFiles/rs-capture.dir/rs-capture.cpp.o: In function `draw_pointcloud(float, float, glfw_state&, rs2::points&)':

rs-capture.cpp:(.text+0x647): undefined reference to `glPopMatrix'

rs-capture.cpp:(.text+0x651): undefined reference to `glPushAttrib'

rs-capture.cpp:(.text+0x676): undefined reference to `glClearColor'

rs-capture.cpp:(.text+0x680): undefined reference to `glClear'

rs-capture.cpp:(.text+0x68a): undefined reference to `glMatrixMode'

rs-capture.cpp:(.text+0x68f): undefined reference to `glPushMatrix'

rs-capture.cpp:(.text+0x6d1): undefined reference to `gluPerspective'

rs-capture.cpp:(.text+0x6db): undefined reference to `glMatrixMode'

rs-capture.cpp:(.text+0x6e0): undefined reference to `glPushMatrix'

rs-capture.cpp:(.text+0x71f): undefined reference to `gluLookAt'

rs-capture.cpp:(.text+0x754): undefined reference to `glTranslatef'

rs-capture.cpp:(.text+0x77a): undefined reference to `glRotated'

rs-capture.cpp:(.text+0x79f): undefined reference to `glRotated'

rs-capture.cpp:(.text+0x7b4): undefined reference to `glTranslatef'

rs-capture.cpp:(.text+0x7ca): undefined reference to `glPointSize'

rs-capture.cpp:(.text+0x7d4): undefined reference to `glEnable'

rs-capture.cpp:(.text+0x7de): undefined reference to `glEnable'

rs-capture.cpp:(.text+0x7fa): undefined reference to `glBindTexture'

rs-capture.cpp:(.text+0x844): undefined reference to `glTexParameterfv'

rs-capture.cpp:(.text+0x858): undefined reference to `glTexParameteri'

rs-capture.cpp:(.text+0x86c): undefined reference to `glTexParameteri'

rs-capture.cpp:(.text+0x876): undefined reference to `glBegin'

rs-capture.cpp:(.text+0x91e): undefined reference to `glVertex3fv'

rs-capture.cpp:(.text+0x942): undefined reference to `glTexCoord2fv'

rs-capture.cpp:(.text+0x950): undefined reference to `glEnd'

rs-capture.cpp:(.text+0x955): undefined reference to `glPopMatrix'

rs-capture.cpp:(.text+0x95f): undefined reference to `glMatrixMode'

rs-capture.cpp:(.text+0x964): undefined reference to `glPopMatrix'

rs-capture.cpp:(.text+0x969): undefined reference to `glPopAttrib'

rs-capture.cpp:(.text+0x96e): undefined reference to `glPushMatrix'

CMakeFiles/rs-capture.dir/rs-capture.cpp.o: In function `rs2::error::error(rs2_error*)':

rs-capture.cpp:(.text._ZN3rs25errorC2EP9rs2_error[_ZN3rs25errorC5EP9rs2_error]+0x2a): undefined reference to `rs2_get_error_message'

rs-capture.cpp:(.text._ZN3rs25errorC2EP9rs2_error[_ZN3rs25errorC5EP9rs2_error]+0x74): undefined reference to `rs2_get_failed_function'

rs-capture.cpp:(.text._ZN3rs25errorC2EP9rs2_error[_ZN3rs25errorC5EP9rs2_error]+0x9b): undefined reference to `rs2_get_failed_function'

rs-capture.cpp:(.text._ZN3rs25errorC2EP9rs2_error[_ZN3rs25errorC5EP9rs2_error]+0x102): undefined reference to `rs2_get_failed_args'

rs-capture.cpp:(.text._ZN3rs25errorC2EP9rs2_error[_ZN3rs25errorC5EP9rs2_error]+0x129): undefined reference to `rs2_get_failed_args'

rs-capture.cpp:(.text._ZN3rs25errorC2EP9rs2_error[_ZN3rs25errorC5EP9rs2_error]+0x190): undefined reference to `rs2_get_librealsense_exception_type'

rs-capture.cpp:(.text._ZN3rs25errorC2EP9rs2_error[_ZN3rs25errorC5EP9rs2_error]+0x1a5): undefined reference to `rs2_free_error'

CMakeFiles/rs-capture.dir/rs-capture.cpp.o: In function `rs2::error::handle(rs2_error*)':

rs-capture.cpp:(.text._ZN3rs25error6handleEP9rs2_error[_ZN3rs25error6handleEP9rs2_error]+0x22): undefined reference to `rs2_get_librealsense_exception_type'

CMakeFiles/rs-capture.dir/rs-capture.cpp.o: In function `rs2::stream_profile::stream_profile(rs2_stream_profile const*)':

rs-capture.cpp:(.text._ZN3rs214stream_profileC2EPK18rs2_stream_profile[_ZN3rs214stream_profileC5EPK18rs2_stream_profile]+0xc1): undefined reference to `rs2_get_stream_profile_data'

rs-capture.cpp:(.text._ZN3rs214stream_profileC2EPK18rs2_stream_profile[_ZN3rs214stream_profileC5EPK18rs2_stream_profile]+0xe7): undefined reference to `rs2_is_s...

[idata]

Hi,

It looks like you've made the build directory in the wrong directory altogether and that's why you're getting these errors. The Librealsense installation instructions say to create a build directory in the librealsense root directory, not in examples/capture.

• navigate to the Librealsense root directory
• mkdir build
• cd build
• cmake .. -DBUILD_EXAMPLES=true

Please let me know if you're able to run the examples after following these instructions!Regards,Sahira

[rjeth]

I am trying to develop visual odometry by intel realsense T265 camera but i am unable to do so . Is their any way or any document regarding this which can help me .

[MartyG]

Intel has a guide to getting data from the T265's IMU.

https://www.intelrealsense.com/how-to-getting-imu-data-from-d435i-and-t265/

There is also a long presentation on YouTube by a T265 expert in an Intel seminar.

​https://youtube.com/watch?v=62vm0_RZ1n