Testing on top of an OpenNI camera. Mostly a space for experimenting with small concepts and ideas. As such, the code has basically no comments and poor interfaces for most of it's functionality.

Currently the code has a few MIT/BSD licensed, inlined dependencies, such as linalg.h and nanoflann. Outside of that, the following open-source libraries are required from additional sources:

• OpenNI2: For camera access, it's expected that you have an installation of OpenNI2 for your platform of interest. Binaries are here while the entire project is also on github. It's only used in ONICamera.h source files.
• SDL2: This is needed as an abstraction layer for window handling across platforms. Download the development libraries, or their source code, from their website. It's only used in the Drawing_*_SDL.h source files, and main.cpp
• GLEW: This is needed to get access to modern OpenGL functions on Windows. Binaries are here, while the source code is on github.
• Eigen3: A popular and flexible header-only linear algebra library. It's fairly large, at ~3MB extracted, so I tend to store it in a common location. It's only used for Cholesky decomposition in ICP.h. And a commented-out SVD-based pairwise matcher in detect.h. Releases are here, while the repository is here.

• Pull down a version of this repository
• A Visual Studio 2013 Solution is included in msvc/. All the dependencies are setup for x86 and x64, they just require locations of the aforementioned libraries, which are configured through editing a single property sheet, msvc/props/Config.prop.
• By default, you can just download the dependencies from the website and extract them to msvc/deps/. For example, I have msvc/deps/SDL2, msvc/deps/glew and msvc/deps/eigen, which are just extracted versions of the zip files from the websites
• Load the Solution and Build.

• Pull down a version of this repository.
• I'm using the amazingly convenient Generic Makefile.
• It has all the dependencies specified through pkg-config, see line 11 of the Makefile. Install them through your distribution's package manager.
• On Ubuntu: sudo apt-get install libopenni2-dev libsdl2-dev libglew-dev libeigen3-dev
• On Fedora: su -c 'yum install SDL2-devel glew-devel eigen3-devel' Unfortunately, Fedora lacks an OpenNI2 pkg, and the default OpenNI2 Linux installer doesn't include a pkg-config file. Debian maintainers have one, but its Include directory has to be changed manually if used with the OpenNI2 install script.
• Type make in the top-level-directory. make debug also works. This'll build everything and make a symlink to ./ps1080.
• Run via ./ps1080

• I haven't tried it. I've heard that this guide may be helpful in installing SDL2.

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