IOException When Creating OpenNI2Grabber

[Archetype90]

Your Environment

• Operating System and version: Windows 10
• Compiler: Standalone Installer
• PCL Version: 1.9.1

Context

Attempting to implement the OpenNI grabber tutorial, which can be found here:

http://pointclouds.org/documentation/tutorials/openni_grabber.php

Expected Behavior

I found three issues with the above tutorial.

1. Line Fix compile error #1 must be

#include <pcl/io/openni2_grabber.h>

2. Line fix the build of the recognition module on Windows #17 must be

pcl::Grabber* interface = new pcl::io::OpenNI2Grabber();

3. Line Posniak #19 must be

boost::function<void(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr&)> f = [this](const pcl::PointCloud<pcl::PointXYZ>::ConstPtr& cloud) { cloud_cb_(cloud); };

With the three changes above I was able to build the solution.

Current Behavior

When attempting to run the solution, I received the following exception:

Unhandled exception at 0x00007FFE416D9129 in Object Tracking.exe: Microsoft C++ exception: pcl::IOException at memory location 0x000000FF53B9EC78.

From the updated line #17 (above)

Code to Reproduce

The sample code from the above link with the specified changes.

Possible Solution

[taketwo]

We have been transitioning from boost to std types in the recent months. As we update the codebase, we also change the tutorials to match. Unfortunately, our website only hosts a single (current) version of tutorials, which means that what you see online now is only compatible with the master version of PCL.

In other words, in case you use a released versions (e.g. 1.9.1), then your fix 3 is needed. If you use the master PCL then the tutorial should be good as is.

Speaking of changes 1 and 2, you are switching between OpenNI versions. Which version to use depends on which version PCL was compiled with, so it's not a bug in tutorial per se. That said, we should probably switch to OpenNI2 since standalone installer on Windows has OpenNI2.

[Archetype90]

Thank you for the respone @taketwo! As you suggested, I am using the 1.9.1 release of PCL. I implemented fix #1 and #2 since the release version 1.9.1 of PCL installs OpenNI2. I do not currently have version 1 of OpenNI installed. So #1 and #2 were required for the library that was installed with the release, and fix #3 was required to address the boost to std change. It is still not clear to me where I am going wrong.

I suppose I could install version one of OpenNI and implement only fix number three?

[taketwo]

Oh, I'm afraid I misread your report. I thought you are just listing the changes that you needed to make to a tutorial to compile it. Now I realized that you actually hit an error running the compiled app.

What does the exception say? Please surround it with try/catch and print the message contained inside.

[Archetype90]

Unfortunately I believe I am missing the PDB -

<Information not available, no symbols loaded for pcl_io_debug.dll>

I am able to look at the exception using the debugger and see:

{file_name_=0x00007ffa1ac63e30 "C:\\pcl-1.9.1\\io\\src\\openni2_grabber.cpp" function_name_=0x00007ffa1ac63d50 "void __cdecl pcl::io::OpenNI2Grabber::setupDevice(const class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > &,const pcl::io::OpenNI2Grabber::Mode &,const pcl::io::O... ...}

I am not sure if this is helpful, but it seems to be in the setupDevice() method. It did occur to me (which I should have included in my original report) that I am using the Kinect for Azure (their newest Kinect). I am curious if this is either not an OpenNI device (I just assumed it was since previous versions of Kinect were) or if there is something incompatible.

[taketwo]

I have never used Kinect for Azure, but I am 99% sure it's not an OpenNI device since it's not based on PrimeSense technology.4

[Archetype90]

I have never used Kinect for Azure, but I am 99% sure it's not an OpenNI device since it's not based on PrimeSense technology.4

My apologies than! Closing the issue, thank you for your help!