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"