Problem with Advanced point cloud mapping example

Arpit · February 24, 2022, 12:28pm

Hi,

I try to combine 2 examples Depth Sensing and Advanced point cloud mapping. Link

I am successfully getting output with Depth-Sensing but I am not able to do point mapping in my problem. Also, I am not getting any type of error. When the program starts I can see a very small dot/pixel which moves when I move the camera but it’s not drawing any line or anything.

Does anyone, know where I am getting problems?

Myzhar · March 9, 2022, 1:41pm

Hi @Arpit
can you share the code that you are using?

Arpit · March 9, 2022, 3:39pm

Hi @Myzhar,

I upload my code to Github. Code

Myzhar · March 9, 2022, 6:35pm

Hi @Arpit
I can’t see in your code where you start the Spatial Mapping module:

github.com

stereolabs/zed-examples/blob/master/spatial mapping/advanced point cloud mapping/cpp/src/main.cpp#L82-L91

    
      
          // Set spatial mapping parameters
          SpatialMappingParameters spatial_mapping_parameters;
          // Request a Point Cloud
          spatial_mapping_parameters.map_type = SpatialMappingParameters::SPATIAL_MAP_TYPE::FUSED_POINT_CLOUD;
          // Set mapping range, it will set the resolution accordingly (a higher range, a lower resolution)
          spatial_mapping_parameters.set(SpatialMappingParameters::MAPPING_RANGE::LONG);
          // Request partial updates only (only the lastest updated chunks need to be re-draw)
          spatial_mapping_parameters.use_chunk_only = true;
          // Start the spatial mapping
          zed.enableSpatialMapping(spatial_mapping_parameters);

and where you retrieve the spatial mapping result:

github.com

stereolabs/zed-examples/blob/master/spatial mapping/advanced point cloud mapping/cpp/src/main.cpp#L120-L135

    
      
          if (tracking_state == POSITIONAL_TRACKING_STATE::OK) {                
              auto duration = chrono::duration_cast<chrono::milliseconds>(chrono::high_resolution_clock::now() - ts_last).count();
              
              // Ask for a fused point cloud update if 500ms have elapsed since last request
              if((duration > 500) && viewer.chunksUpdated()) {
                  // Ask for a point cloud refresh
                  zed.requestSpatialMapAsync();
                  ts_last = chrono::high_resolution_clock::now();
              }
              
              // If the point cloud is ready to be retrieved
              if(zed.getSpatialMapRequestStatusAsync() == ERROR_CODE::SUCCESS) {                    
                  zed.retrieveSpatialMapAsync(map);
                  viewer.updateChunks();
              }
          }

Arpit · March 11, 2022, 9:41am

Hi @Myzhar

If you go to lines number 98 to 107 in main.cpp file you will see the start of the Spatial Mapping module.

and in line 142 to 157 you will see the spatial mapping result is retrieved.

If you download the project and open the ZED_Depth_Sensing.vcxproj project in visual sudio then you will everything in the main file.

Arpit · March 11, 2022, 9:48am

Also, I am combining 2 programs Advanced cloud mapping and a depth-sensing program. I can see the output of depth-sensing program but not cloud mapping project. To check depth-sensing program is working or not just remove the comment of line 136 and you will see the depth-sensing program.

You can check the output of the program.

Myzhar · March 11, 2022, 4:27pm

Can you check while debugging if the point clouds are populated or not and if the Tracking state is OK or not?

Arpit · March 14, 2022, 10:15am

Yes, the point clouds are populated and the Tracking state is OK during debugging.

Arpit · March 17, 2022, 9:35am

Hi @Myzhar,

Is there any update regarding the problem?