Getting "rs2::error" and "Couldn't resolve requests" error while generating PCD file through L515

[milan-r-shah]

Required Info
Camera Model	L515
Firmware Version	01.05.00.00
Operating System & Version	Linux (Ubuntu 18.04)
Kernel Version (Linux Only)	5.3.0-28-generic
Platform	PC
SDK Version	2.0 (v2.38.1)
Language	C++
Segment	others

Issue Description:

I have been trying to generate the PCD file through Intel RealSense LiDAR Camera L515 using pcl-color example code. [command: ./rs-pcl-color]. However, every time, I get this error:

terminate called after throwing an instance of 'rs2::error'
  what():  Couldn't resolve requests
Aborted (core dumped)

On the other hand, if I launch the SDK then it works perfectly OK.

Sometimes, I also get this error:

terminate called after throwing an instance of 'rs2::error'
  what():  No device connected
Aborted (core dumped)

In this case, even SDK can't detect the Lidar. I have to first unplug and then plug it again. Then SDK works but I still can't use pcl-color example because I get the first error.

Surprisingly, this pcl-color example code works fine with D435i. So, now, how can I fix this issue & use pcl-color example code with L515?

Thank you so much in advance!

[RealSenseSupport]

Hi @milan-r-shah

Thank you for bringing this to our attention. We were able to reproduce these issues and will investigate further.

In the meantime I believe the L515 specific problem u are seeing is due to the pcl sample configuring the depth and infra streams to unsupported formats. Try changing the corresponding calls in main() to...

cfg.enable_stream(RS2_STREAM_INFRARED, 1024, 768, RS2_FORMAT_Y8, 30);
cfg.enable_stream(RS2_STREAM_DEPTH, 1024, 768, RS2_FORMAT_Z16, 30);

...and see if that allows the PCD file to be written.

Thanks

[RealSenseSupport]

Hi,

Will you be needing further help with this? If we don’t hear from you in 7 days, this issue will be closed.

Thanks

[RealSenseSupport]

In any case...this PR resolves this:

#7878

Thanks