mpottinger / create_point_clouds_with_t265_d400_camera

create_point_clouds_with_t265_d400_camera

This repo is based on tracking-and-depth from librealsense example.

However, this project will accumulated depth frames into a full point cloud.

Requirements

• Point Cloud Library: used to create point cloud, save to pcd, visualize in realtime and perform down sampling to reduce cloud size.
• OpenCV: used to visualize the RGB frame
• librealsense: works with T265 and D400 camera.

Steps

• Step 1: Print the provided0 STL from the tracking-and-depth repo.
• Step 2: Compile and run
• Step 3: Select the opencv color window. Here are some key command:
  • d: Capture the current frame into the point cloud
  • s: Save the point cloud. Edit the name variable if you want to change the saved folder. pcl::io::savePCDFile(name, *point_cloud_ptr)
  • q: Quit.