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Depth sensors compatible with OpenNI (Kinect, XtionPRO, ...) are supported through VideoCapture

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.

In order to use the Astra camera's depth sensor with OpenCV you should do the following steps:

Unzip the archive, choose the build according to your operating system and follow installation

steps provided in the Readme 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:

not available through OpenNI API and is only provided via the regular camera interface.

So, to get both depth and color frames, two @ref cv::VideoCapture objects should be created:

The first object will use the OpenNI2 API to retrieve depth data. The second one uses the

Video4Linux2 interface to access the color sensor. Note that the example above assumes that

the maximum resolution available for both sensors, and we’d like both stream parameters to be the

same for easier color-to-depth data registration:

For setting and retrieving some property of sensor data generators use @ref cv::VideoCapture::set and

@ref cv::VideoCapture::get methods respectively, e.g. :

The following properties of cameras available through OpenNI interface are supported for the depth

generator:

threads to avoid blocking. Example implementation that gets frames from each sensor in a new thread

and stores them in a list along with their timestamps:

VideoCapture can retrieve the following data:

A post-synchronization procedure can be applied to the streams to combine depth and color frames into

pairs. The sample code below demonstrates this procedure:

In the code snippet above the execution is blocked until there are some frames in both frame lists.

When there are new frames, their timestamps are being checked -- if they differ more than a half of


The complete implementation can be found in

in `samples/cpp/tutorial_code/videoio` directory.

- @subpage tutorial_video_input_psnr_ssim

- @subpage tutorial_video_write

- @subpage tutorial_kinect_openni

- @subpage tutorial_intelperc

- @subpage tutorial_wayland_ubuntu