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Alexander Smorkalov
2023-07-27 18:38:25 +03:00
parent 0e8748746f 677a28fd2a
commit 47188b7c7e
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doc/tutorials/app/orbbec_astra.markdown
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@@ -9,7 +9,7 @@ Using Orbbec Astra 3D cameras {#tutorial_orbbec_astra}
### Introduction
This tutorial is devoted to the Astra Series of Orbbec 3D cameras (https://orbbec3d.com/product-astra-pro/).
This tutorial is devoted to the Astra Series of Orbbec 3D cameras (https://orbbec3d.com/index/Product/info.html?cate=38&id=36).
That cameras have a depth sensor in addition to a common color sensor. The depth sensors can be read using
the open source OpenNI API with @ref cv::VideoCapture class. The video stream is provided through the regular
camera interface.
@@ -18,9 +18,11 @@ camera interface.
In order to use the Astra camera's depth sensor with OpenCV you should do the following steps:
-# Download the latest version of Orbbec OpenNI SDK (from here <https://orbbec3d.com/develop/>).
-# Download the latest version of Orbbec OpenNI SDK (from here <https://orbbec3d.com/index/download.html>).
Unzip the archive, choose the build according to your operating system and follow installation
steps provided in the Readme file. For instance, if you use 64bit GNU/Linux run:
steps provided in the Readme file.
-# For instance, if you use 64bit GNU/Linux run:
@code{.bash}
$ cd Linux/OpenNI-Linux-x64-2.3.0.63/
$ sudo ./install.sh
@@ -31,17 +33,44 @@ In order to use the Astra camera's depth sensor with OpenCV you should do the fo
@code{.bash}
$ source OpenNIDevEnvironment
@endcode
-# Run the following commands to verify that OpenNI library and header files can be found. You should see
something similar in your terminal:
To verify that the source command works and OpenNI library and header files can be found, run the following
command and you should see something similar in your terminal:
@code{.bash}
$ echo $OPENNI2_INCLUDE
/home/user/OpenNI_2.3.0.63/Linux/OpenNI-Linux-x64-2.3.0.63/Include
$ echo $OPENNI2_REDIST
/home/user/OpenNI_2.3.0.63/Linux/OpenNI-Linux-x64-2.3.0.63/Redist
@endcode
If the above two variables are empty, then you need to source `OpenNIDevEnvironment` again. Now you can
configure OpenCV with OpenNI support enabled by setting the `WITH_OPENNI2` flag in CMake.
If the above two variables are empty, then you need to source `OpenNIDevEnvironment` again.
@note Orbbec OpenNI SDK version 2.3.0.86 and newer does not provide `install.sh` any more.
You can use the following script to initialize environment:
@code{.text}
# Check if user is root/running with sudo
if [ `whoami` != root ]; then
echo Please run this script with sudo
exit
fi
ORIG_PATH=`pwd`
cd `dirname $0`
SCRIPT_PATH=`pwd`
cd $ORIG_PATH
if [ "`uname -s`" != "Darwin" ]; then
# Install UDEV rules for USB device
cp ${SCRIPT_PATH}/orbbec-usb.rules /etc/udev/rules.d/558-orbbec-usb.rules
echo "usb rules file install at /etc/udev/rules.d/558-orbbec-usb.rules"
fi
OUT_FILE="$SCRIPT_PATH/OpenNIDevEnvironment"
echo "export OPENNI2_INCLUDE=$SCRIPT_PATH/../sdk/Include" > $OUT_FILE
echo "export OPENNI2_REDIST=$SCRIPT_PATH/../sdk/libs" >> $OUT_FILE
chmod a+r $OUT_FILE
echo "exit"
@endcode
-# Now you can configure OpenCV with OpenNI support enabled by setting the `WITH_OPENNI2` flag in CMake.
You may also like to enable the `BUILD_EXAMPLES` flag to get a code sample working with your Astra camera.
Run the following commands in the directory containing OpenCV source code to enable OpenNI support:
@code{.bash}