danieltobon43 / zr300_pcl_visualizer

A simple pcl visualizer for the pointcloud of a ZR300 Intel Realsense camera

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.