PointCloudLibrary/pcl

[io] Check for IR stream capability before creating it in `real_sense_2_grabber` for D415

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#3,809 opened on Mar 26, 2020

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good first issuekind: bugkind: todomodule: iostatus: triage

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Description

Describe the bug

When trying to obtain point clouds from the Intel RealSense D415, in RealSense2Grabber::start(), I get an exception that "Stream is not supported." This comes from the check here. Specifically, when checking the RS2_STREAM_INFRARED stream, realsense throws a runtime error (rs_pipeline.hpp L69), since the D415 has no infrared stream.

Environment

  • OS: Windows 10
  • Compiler: cl 19.24.28314
  • PCL Version: 1.10.0

I am able to circumvent the issue by simply taking out the RS2_STREAM_INFRARED line, and everything works successfully (this is obviously not a general enough solution:

if ( prof.get_stream ( RS2_STREAM_COLOR ).format ( ) != RS2_FORMAT_RGB8 ||
      prof.get_stream ( RS2_STREAM_DEPTH ).format ( ) != RS2_FORMAT_Z16)
      THROW_IO_EXCEPTION ( "This stream type or format not supported." );

Contributor guide

Research direction
Examine the stream configuration in `real sense 2 grabber.cpp` and modify the check to skip the infrared stream if the device does not support it. Refer to the Intel RealSense SDK documentation to verify stream availability.
Tech stack
cpp
Domain
apibackend
Issue type
Bug
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
2
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
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Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
GitC++
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
80