Function create_pointcloud not found

[ViacheslavRud]

Required Info
Camera Model	n/a
Firmware Version	n/a
Operating System & Version	Linux (Ubuntu 16.04)
Kernel Version (Linux Only)	4.15.0-45-generic
Platform	n/a
SDK Version	2.33.1
Language	C++ 11
Segment	(does not matter, fails in simple standalone app)

Issue Description

Hi. I'm trying to use this code

#include <librealsense2/rs.hpp>
...
rs2::pointcloud pc = rs2::context().create_pointcloud();

from this tutorial https://github.com/IntelRealSense/librealsense/tree/master/examples/pointcloud.
But it gives me next error:
class rs2::context’ has no member named ‘create_pointcloud’

What is wrong here?

[MartyG-RealSense]

This sample is designed to call upon OpenGL graphics, so it may not be the best example to adapt if you are trying to reduce the program's complexity down to a simpler point cloud application. For example, your script omits the #include "example.hpp" line, and example.hpp contains instructions for rendering a point cloud with OpenGL.

The simplest form of a C++ point cloud script, which may be a better place to begin experimentation at, is this:

rs2::pointcloud pc;
rs2::points points = pc.calculate(depth_frame);
pc.map_to(color_frame);

A slightly more complicated version of this that can export the point cloud to a .ply format file is in the link below.

#2488 (comment)

[ViacheslavRud]

This sample is designed to call upon OpenGL graphics, so it may not be the best example to adapt if you are trying to reduce the program's complexity down to a simpler point cloud application. For example, your script omits the #include "example.hpp" line, and example.hpp contains instructions for rendering a point cloud with OpenGL.

The simplest form of a C++ point cloud script, which may be a better place to begin experimentation at, is this:

rs2::pointcloud pc;
rs2::points points = pc.calculate(depth_frame);
pc.map_to(color_frame);

A slightly more complicated version of this that can export the point cloud to a .ply format file is in the link below.

#2488 (comment)

Thank you. But I have additional question then. I will describe in more details.
I need to take depth data from .bag file and convert it to point cloud. It should work under ROS.
It should emulate real camera which produce pointcloud messages in topic camera/depth_registered/points. But .bag record does not contain this data. So I have to convert depth to point cloud pcl::PointCloudpcl::PointXYZRGB type.
I found this tutorial in thread #2090

Seems it use sensor_msgs/Image message in devise_0/sensor_0/Depth_0/image/data topic. And your code use frame type.
How to convert message to frame?

P.S. I dont't use rendering part from tutorial, I need only conversion.

[MartyG-RealSense]

If you need to convert ROS data to PCL data, this link may be helpful:

https://answers.ros.org/question/316701/ros-intel-realsense-how-to-process-data-with-pcl/

Alternatively, if you are able to make use of the Python language then there is an Intel tutorial for loading in a bag file, retrieving the data from it and generating a point cloud.

https://github.com/dorodnic/binder_test/blob/master/pointcloud.ipynb

[dorodnic]

There's an error in documentation of pointcloud, I'll update it for the next release.

[ViacheslavRud]

dorodnic, ok, thanks.

Thanks for links, MartyG-RealSense, I will try to use them.

[MartyG-RealSense]

Hi @ViacheslavRud I reviewed the pointcloud documentation, and an edit for create_pointcloud() was made on March 29 2020.

45f86e5

I will therefore close this case as completed. Thanks!

[mbechard]

This documentation still mentions it:
https://dev.intelrealsense.com/docs/rs-pointcloud