DroneDelivery

Resources

• Information Repo: https://docs.google.com/spreadsheets/d/11xxZHC3XC1sGwpEqG1tOXjks8iv0NYNlaF1fCZc6Xvo/edit?usp=sharing
• Code Samples: https://dev.intelrealsense.com/docs/code-samples
• Pipeline: https://docs.google.com/drawings/d/1kvJUrOsBiEv-U5tZRwZ6jow2ZWX7vi7e-kIwDFJwo5s/edit?usp=sharing

Obstacle Avoidance Setup

Installing Visual Studio

1) Navigate to this webpage: "https://learn.microsoft.com/en-us/visualstudio/install/install-visual-studio?view=vs-2022" 2) Click on "Download Visual Studio" button 3) In the Visual Studio Installer, select "Desktop Development with C++" 4) Download/Install while Downloading

Downloading RealSense Library

1) Navigate to "/c" 2) Create a folder named "git" 3) Navigate to this webpage: "https://github.com/IntelRealSense/librealsense/releases/tag/v2.51.1" 4) Download "Source Code (zip)" from the bottom of the page 5) Extract the download into "/c/git" 6) Rename the extracted folder to "librealsense"

Installing CMake

1) Navigate to this webpage: "https://cmake.org/download/" 2) Install CMake using Binary distributions (.msi) 3) When installing, make sure to select "Add to path"

Compiling using CMake

1) Open CMake 2) In "Where is Source Code," add this: "C:/git/librealsense" 3) Navigate to "C:/git/librealsense" and create "build" folder 4) In "C:/git/librealsense/build," add this: "C:/git/librealsense/build"

Compiling Using Visual Studio

1) Navigate to "C:\git\librealsense\build" 2) Open VS project: "librealsense2.sln" 3) Once open, click on the green "Start without Debugging Button" on the top 4) It should take a couple of minutes 5) Do not worry about the "Access denied - ALL BUILD" error 6) To confirm compilation, navigate to "C:\git\librealsense\build" 7) Here, you should find a "DEBUG" and "x64" folder

Installing OpenCV

1) Navigate to this webpage: "https://opencv.org/releases/" 2) Choose on appropriate OS to download 3) Open the downloaded file 4) In extract to location, paste: "C:\" and extract

Configuring Project Files

1) Clone this repository to location of your choice 2) Then, navigate to "C:\git\librealsense\build\DEBUG\" 3) Copy files with names "realsense2d.dll" and "realsense2d.lib" 4) Place them in your git repository with relative path: "\DroneDelivery\ObstacleAvoidance\x64\Debug" 5) Navigate to "C:\opencv\build\x64\vc15\bin" 6) Copy file with name "opencv_world460d.dll" 7) Place the file in your git repository with relative path: "\DroneDelivery\ObstacleAvoidance\x64\Debug" 8) Finally, navigate within git repository to relative path: "\DroneDelivery\ObstacleAvoidance" 9) Open the "ObstacleAvoidance.sln" VS project file

Configuring Project Paths

1) First, navigate to Properties (right-click on Project Name): 2) Click on C/C++ and add to “Additional Include Directories” the following:

• "C:\git\librealsense;C:\git\librealsense\build;C:\git\librealsense\include;C:\git\librealsense\third-party\glfw\include;%(AdditionalIncludeDirectories);C:\opencv\build\include" 3) Next, navigate to linker, general and to "Additional Library Directories" add:
• "%(AdditionalLibraryDirectories);C:\opencv\build\x64\vc15\lib" 4) Navigate to linker, input and to "Additional Dependencies" add:
• "C:\git\librealsense\build\Debug\realsense2d.lib;C:\git\librealsense\build\third-party\glfw\src\Debug\glfw3d.lib;opengl32.lib;glu32.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;comdlg32.lib;advapi32.lib;$(CoreLibraryDependencies);%(AdditionalDependencies);opencv_world460d.lib"