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zr300_pcl_visualizer

A simple C++ program to visualize the 3D pointcloud from a ZR300 Intel Realsense camera using PCL 1.9.0, CMake and IntelRealsense SDK Legacy (ZR300). This program detected if 1 or 2 Intelrealsense cameras are connected to a USB3.0 port and display a viewer.

pcl - librealsense wrapper: https://joshmcculloch.nz/#!realsense



How to compile IntelRealsense Legacy Library

Follow the instructions on: https://github.com/IntelRealSense/librealsense/tree/legacy or,

  • Ubuntu 16.04.6 with kernel (4.15.0-69-generic)

    Dependencies:
    - sudo apt-get update
    - sudo apt-get install libssl-dev
    - sudo apt-get install libusb-1.0-0-dev pkg-config
    
     Relevant dependencies:
     - PCL 1.9.0 (You don't have to install it)
     - CMake >= 3.5     
    
    Library Build Process:
    
    - mkdir build && cd build
    - cmake ../
    - make (You don't have to install it)
    
    Video4Linux backend preparation:
    
    - sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
    - sudo udevadm control --reload-rules && udevadm trigger
    
    At the root library folder, run:
    - ./scripts/patch-realsense-ubuntu-xenial.sh
    

How to compile ZR300 pcl visualizer

  • Download or clone this repo: https://github.com/danielTobon43/zr300_pcl_visualizer.git

  • Create a "build" folder

  • Modify the CMakeList.txt file with your own path:

       e.g: 
       
       PCL BUILD DIR:          /opt/pcl-1.9.0/build 
       REALSENSE LIB DIR:      /opt/librealsense-legacy
       
       and save it
    
  • Run cmake,

       - cmake ../src/
       - make
    

Test

  - Connect camera ZR300 to USB 3.0 port
  - cd build/
  - ./pcl-realsense

Output example

For 1 camera:

  There are 1 connected RealSense devices.
  -> Using device 0, an Intel RealSense ZR300
      Serial number: 4071801127
      Firmware version: 2.0.71.28

  -> -------------------------------
  -> Setting visualizer
  -> Setting loop for streaming
  ********************************
  Iteration No.[0] 
  ********************************

  ********************************
  Iteration No.[1] 
  ********************************

  ********************************
  Iteration No.[2] 
  ********************************

For 2 cameras:

  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  ***      MAIN PROGRAM     ***
  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  -> Reading camera ...There are 2 connected RealSense devices.
  -> Using device 0, an Intel RealSense ZR300
      Serial number: 4071801092
      Firmware version: 2.0.71.28

  -> Using device 1, an Intel RealSense ZR300
      Serial number: 4071801127
      Firmware version: 2.0.71.28

  -> -------------------------------
  -> Setting visualizer
  -> Setting viewport
  -> Removing all pointclouds
  -> Setting loop for streaming
  ********************************
  Iteration No.[0] 
  ********************************

   ---------------------------------
   *******     Camera 1     ******* 
   ---------------------------------
  -> Points rgb: 	 		484
  -> Points xyzi:  		      484
  -> Normal points: 		484
  -> Keypoints:			383
  -> Descriptors:			383

   ---------------------------------
   *******     Camera 2     ******* 
   ---------------------------------
  -> Points rgb: 	 		1018
  -> Points xyzi:  		      1018
  -> Normal points: 		1018
  -> Keypoints:			797
  -> Descriptors:			797

For none cameras:

  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  ***      MAIN PROGRAM     ***
  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  > -> Loading
  No devices detected. Is it plugged in?
  Min: 1 camera, Max: 2 cameras
  > Visualizer closed.