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Depth Sensing

This program is a collection of depth sensing projects using the Xtion2 depth camera.

Dependencies

  • OpenNI2/Xtion2 SDK. Download here.
  • OpenCV
  • oscpack

Building

  • Use the included CMakelists.txt with Cmake to build.
  • Binaries will be inside build/Release or build/Debug depending on build configurations.
  • The binaries will also depend on Rvclib.dll and SenDuck.dll which are located in /Samples/bin/OpenNI2/Drivers

Projects

depth_image

Base project to capture and display depth images.

depth_filtering

Filters objects farther than a threshold range. Objects closer than this range will be detected using OpenCV's blob detection. The result points are transmitted with OSC so other applications can use them.

Data Format

When sending through OSC, the data format is as follows : x1, y1, x2, y2, ... , end

You can check for the string "end" to determine end of data.