Point Cloud Example

[JTray]

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();}

[idata]

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.

[JTray]

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

[jb455]

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?

[JTray]

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.