Conflict in sample RF_ScenePerception while using QueryVertices()

[SL4]

There came the read access conflict when I tried to use projection->QueryVertices() to get vertices from depth data in sample RF_ScenePerception(C++ R200).

Part of code(bold font added by myself):

void ScenePerceptionApp::Process()

{

while (!m_bTerminateProcessing)

{

PXCCapture::Sample *pSample = NULL;

float cameraPose[12] = { 0 };

if (!m_pScenePerceptionController->ProcessNextFrame(pSample, cameraPose, m_trackingAccuracy, m_fCurrentSceneQuality))

{

m_processingCallQuit = true;

return;

}

UpdateLocalImages(pSample);

PXCProjection *projection = m_pScenePerceptionController->QueryProjection();

PXCPoint3DF32 *vertices = new PXCPoint3DF32[m_iDepthWidth * m_iDepthHeight];

projection->QueryVertices(pSample->depth, vertices);

projection->Release();

......

}

}

It seems that QueryProjection() returned a null pointer while there is another *projection being used? What is the correct way to get vertices in this C++ sample?

[idata]

Hi HelloIntelWorld,

Thanks for reaching out.To be honest, we are not sure if the issue with QueryProjection() is because you are using another projection.Did you check the DF_Projection sample? https://software.intel.com/sites/landingpage/realsense/camera-sdk/v1.1/documentation/html/index.html?sample_projection_cpp.html, I recommend you to check that sample to know how the function is used, and use it as a reference for your code.I hope you find this useful.Have a nice day.Regards,Leonardo R.

[SL4]

Actually the way to use the function is the same as sample DF_Projection.

However the code in C++ samples looks very strange and unusual(for me at least). For example,

wcout << L"RF_ScenePerception: Starts." << endl;</strong>

What is common I think is cout<<"text"<<endl;</strong>

Thus I sincerely recommend you to provide a guide of how to use the "uncommon code" or add some annotations for beginner developers like me.

Well back to the topic, I have solved the problem by myself.

Before using m_pScenePerceptionController->QueryProjection() you need to initialize projection firstly. That is why QueryProjection() returned a null pointer when I tried first time.

I found InitializeProjection() in sp_controller.h. It puzzled me that the function has been declared but never used. Then I added m_pScenePerceptionController->InitializeProjection(); to initialize and used m_pScenePerceptionController->QueryProjection()->QueryVertices(pSample->depth, &myVertices[0]); in the main loop. Finally I got the vertices successfully.

Thank you a lot for your help! Hope that my work is helpful for others who need.

[idata]

Hi HelloIntelWorld,

That's awesome. It is good to know that you solved your issue.We really appreciate that you have posted the solution, it definitely will be very helpful for the community, thank you so much.Have a nice day.Regards,Leonardo R.