thermal_pointcloud

Intro

realsense d455 + Boson 320 to generate thermal pointcloud.

Dependencies

- CMake version>=2.8
- PCL 1.2
- Realsense SDK
- OpenCV
- v4l2

Running

1. Install the dependencies above.
2. check the boson's device port with v4l2

v4l2-ctl -d /dev/video- --all

Change the port at row 52 in fusion_new.cpp

 sprintf(video, "/dev/video8");

3. Edit the CMakeLists.txt

change the librealsense2.so path

target_link_libraries(fusion
        "/home/gg/librealsense/build/librealsense2.so"

4. navigate to the root folder.

mkdir build && cd build
cmake ..
make

Example

Qt visualizer for thermal point cloud

Environment

• PCL 1.11.1
• Qt 5.14
• VTK 8.2.0

GUI effect

24.April.mp4