hight-level-robotics-congnitive-agent/librealsense/tools/embed

rs-embed Tool

Goal

The rs-embed tool is used for embedding binary resources into code, it is an effective solution for distributing 3D-models, raster graphics and fonts.

This tool offers a standard way this can be done across the SDK.

Description

This tool can embed 3d object / png files into code by generating a header file with all static data. a common use case which use it inside libRealSense is rendering the 3D model on the realsense-viewer tool.

3D object file

The tool will read the input obj file, compress it using LZ4 compression tool and create a header file with the compressed data and an uncompress(...) method

PNG file

The tool will read the input png file, and create a header file with the compressed data array and size

Command Line Parameters

Flag	Description	Default
-i <input-file>	png / obj file that we want to embed
-o <output-file>	The desired output file path
-n <object-name>	The embedded object name for the array/function name created
--version	Get the tool version string

For example:
rs-embed.exe -n d435 -o d435.h -i "inputs/d435.obj"
Will create a header for the 3D model of the d435 obj file given as input. The array name that will be generated is static uint32_t d435_obj_data [] {...} and the decompress function signature will be inline void uncompress_d435_obj(...).

How to embed a RealSense device 3D model into code.

Here we will learn how to generate an embed a 3D model into code.

1. Download the requested CAD model from the RealSense website.
2. Convert the step file into an obj file. (Can be done using freecad application)
3. Optional - Reduce object size by narrowing data (Can be done using meshmixer application) * Here is a guide on how to reduce obj size using meshmixer application.
4. Run rs-embed tool with the generated object as input.