Contents

Point Cloud Library (PCL) Demo User Defined Function (UDF) Overview

The Point Cloud Library (PCL) is a User Defined Function (udf) that 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. If interested, you need to uncomment it in rs2pcl.cpp file by following the instructions. The PCD file is created in /var/tmp directory.

UDF config:

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

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

Known Issues or 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)