From 98a34e3ca2c0d6262c956642366a9b56a5c3a032 Mon Sep 17 00:00:00 2001 From: Victor Lamoine Date: Mon, 10 Jul 2017 12:02:24 +0200 Subject: [PATCH] Update Ensenso tutorial for Ensenso X devices --- doc/tutorials/content/ensenso_cameras.rst | 30 +++++++++++++++++++++++ 1 file changed, 30 insertions(+) diff --git a/doc/tutorials/content/ensenso_cameras.rst b/doc/tutorials/content/ensenso_cameras.rst index 66c3ae26b81..29b965290ef 100644 --- a/doc/tutorials/content/ensenso_cameras.rst +++ b/doc/tutorials/content/ensenso_cameras.rst @@ -44,6 +44,36 @@ Note that this program opens the TCP port of the nxLib tree, this allows you to The capture parameters (exposure, gain etc..) are set to default values. If you have performed and stored an extrinsic calibration it will be temporary reset. +If you are using an Ensenso X device you have to calibrate the device before trying to run the PCL driver. If you don't you will get an error like this: + +.. code-block:: cpp + Initialising nxLib + Opening Ensenso stereo camera id = 0 + openDevice: NxLib error ExecutionFailed (17) occurred while accessing item /Execute. + + { + "ErrorSymbol": "InvalidCalibrationData", + "ErrorText": "Stereo camera calibration data is corrupted or not supported yet by the current software version.", + "Execute": { + "Command": "Open", + "Parameters": { + "AllowFirmwareUpload": null, + "Cameras": "171197", + "FirmwareUpload": { + "Camera": null, + "Projector": null + }, + "LoadCalibration": null, + "Projector": null, + "Threads": null + } + }, + "Time": 8902, + "TimeExecute": 8901, + "TimeFinalize": 0.03477, + "TimePrepare": 0.01185 + } + .. code-block:: cpp ensenso_ptr->enumDevices ();