PointCloudLibrary/pcl
[io] Check for IR stream capability before creating it in `real_sense_2_grabber` for D415
Aberta
#3.809 aberto em 26 de mar. de 2020
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." );