Cloud Point With RGB Problem

[NearZhxiAo]

Hi~
Sorry for my Poor English~

I'm using RealSense SR 300 for the task of Object Detecting, Hence Registered RGB-D data are needed.

I used your realsense_camera_tools and finaly got point cloud with RGB , but It may not correct.

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The following are my Steps:

1.Download and install RealSense SR300 SDK and the DCM is attached.

2.Git clone your code realsense_camera_tools and deploy on VS2013 with envionment variables and project properties configured (libs and includes).

3.It cannot be compiled with the error on line 834 in file DF_RawStreams/src/main.cpp "PXCSessionService has no member FEEDBACK_SIMPLE_INFO".

4.So I replaced it with:

md->AttachBuffer(PXCSession::METADATA_FEEDBACK_SAMPLE_INFO, (pxcBYTE*)sample_name, sizeof(sample_name));

It finally worked with 2047 uvmap*.bin generated.

BTW: Is there any constraints with your WinAPP? I mean that whether the SR camera should shooting some specify scene?

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5.I copied those uvmap*.bin file to your project ~/catkin_ws/src/realsense_camera/data/uvmap on Ubuntu14.04 without a "serial number (the function return a NULL)"

6.roscore->roslaunch-> RVIZ

rosrun rviz rviz -D ~/catkin_ws/src/realsense_camera/config/realsense.rviz

Finally I got point cloud with RGB ,but it may not correct?

Here is what I got: