vmrs

To build library,

mkdir build; cd build cmake .. `make -j

TEST_rsd4xx.cc contains the most recently successful code

TEST_showPointCloud.cc contains code being developed at the moment

Multiple realsense cameras can be coordinated at the moment.

• Each realsense camera is an instance of class RsD4xx
• Each instance has to call init and proceed separately
• Theoretically, all the cameras have to call init first
  • But if all init functions are called first, Device or resource busy error occurs
  • Therefore, each camera called proceed just once after being initialized
    • This way, all cameras proceed ONCE after initialization
    • Somehow prevents the error from occurring
• Theoretically, initializing cameras in order (camera0->camera1...) should work
  • Does not
  • Initializing the cameras in a backward order works instead
• Now preparing to merge the images into one

TODO

• Leave commments where necessary
• Create a function (in the code itself) for matrix transformation using extrinsics
  • In the form of combine(mat1, mat2, R, T)
• Designate the standard camera (identity transformation) by its serial number
  • Therefore, the extrinsics must be based on the cameras' serial numbers.
• Get configgurations from YAML
  • Currently hardcoded