PCL Demo UDF

This udf accepts the realsense color and depth frames, converts them to rs2 frame type and generates pcl point cloud. The code for generating PCD file has been commented intentionally. Interested user need to uncomment it in rs2pcl.cpp file by following instruction in line number 78. The PCD file is created in /var/tmp directory.

UDF config:

{
    "name": "rs2pcl",
    "type": "raw_native"
}

Refer udfs-README for more information on configs of other in-built udfs like dummy, fps and resize udfs.

Known Issues/Limitations:

• RealSense Software Device error for initial set of frames (non-blocking error)

• Exception thrown by PCL APIs for certain RealSense frames (non-blocking error)