Merge pull request #1933 from VictorLamoine/ensenso_new_device

Update Ensenso tutorial for Ensenso X devices
PointCloudLibrary · Jul 10, 2017 · 94cdac9 · 94cdac9
2 parents 971bd7c + 98a34e3
commit 94cdac9
Showing 1 changed file with 30 additions and 0 deletions.
diff --git a/doc/tutorials/content/ensenso_cameras.rst b/doc/tutorials/content/ensenso_cameras.rst
@@ -44,6 +44,36 @@ Note that this program opens the TCP port of the nxLib tree, this allows you to
 The capture parameters (exposure, gain etc..) are set to default values.
 If you have performed and stored an extrinsic calibration it will be temporary reset.
 
+If you are using an Ensenso X device you have to calibrate the device before trying to run the PCL driver. If you don't you will get an error like this:
+
+.. code-block:: cpp
+  Initialising nxLib
+  Opening Ensenso stereo camera id = 0
+  openDevice: NxLib error ExecutionFailed (17) occurred while accessing item /Execute.
+
+  {
+          "ErrorSymbol": "InvalidCalibrationData",
+          "ErrorText": "Stereo camera calibration data is corrupted or not supported yet by the current software version.",
+          "Execute": {
+                  "Command": "Open",
+                  "Parameters": {
+                          "AllowFirmwareUpload": null,
+                          "Cameras": "171197",
+                          "FirmwareUpload": {
+                                  "Camera": null,
+                                  "Projector": null
+                          },
+                          "LoadCalibration": null,
+                          "Projector": null,
+                          "Threads": null
+                  }
+          },
+          "Time": 8902,
+          "TimeExecute": 8901,
+          "TimeFinalize": 0.03477,
+          "TimePrepare": 0.01185
+  }
+
 .. code-block:: cpp
 
   ensenso_ptr->enumDevices ();