C++

Examples #

Name	Description
environment-setup	Help you make sure build environment is setup correctly
hello-lipsedge-sdk	How to connect to camera and get camera info
opencv-viewer	Use OpenCV to display Color, depth and IR images
roi	How to set the ROI of image frame
depth_data	Get the depth value by pixel coordinate (x,y)
align-depth-color	Align depth and RGB frame to the same coordinate
range-filter	Get the data only in desired distance only
remove-background	Use range filter to filter out the back ground
record	Record camera streams for NiViewer playback
pointcloud	Compute pointcloud data and display
config-resolution	Change resolution, FPS and pixel format
camera-parameter	Get camera parameters

Prerequisite #

Install cmake and opencv.

Linux #

sudo apt install cmake build-essential
sudo apt install libopencv-dev

Windows #

Install cmake, OpenCV and Visual Studio (we use VS2019).

Installation Guide on Windows #

Create two files, example.cpp and CMakeLists.txt with following content.

# CMakeLists.txt
cmake_minimum_required(VERSION 3.3)

project( example CXX )

if(MSVC)
    include_directories("C:/Program Files/OpenNI2/Include")
    link_directories("C:/Program Files/OpenNI2/Lib")
endif()


add_executable( ${PROJECT_NAME} project.cpp )

find_package(OpenCV)

target_link_libraries(${PROJECT_NAME} OpenNI2)
target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})

// project_setup.cpp
#include <openni2/OpenNI.h>
#include <opencv2/core/core.hpp>

int main()
{
    auto version = new openni::Version();
    printf("OpenNI Version:%d.%d.%d.%d\n", version->build, version->major, version->minor, version->maintenance);

    printf("OpenCV Version:%s\n", CV_VERSION);
    return 0;
}

Build #

Linux #

Create a build folder next to CMakeLists.txt. Change directory to build folder. Use cmake to generate build files. Then use make to build.Copy

mkdir build
cd build
cmake ..
make

Windows #

1. Open Visual Studio and create a new project

2. Create a new cmake project

3. Modify CMakeLists.txt and project_setup.cpp

Expect output #

OpenNI Version:0.0.0.0
OpenCV Version:4.2.0.4.2.0