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 background
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.

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