29 lines
2.3 KiB
Markdown
29 lines
2.3 KiB
Markdown
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# Getting started with my softkinetic DepthSense 325 #
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*2014-03-08*
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So a bit ago I bought a DepthSense 325 camera. I've been pretty busy since then but today I finally sat down to get started with it. First thing, it was on my netbook so I had to resetup the software stack and SDK. The SDK is free from softkinetic and works on Linux (which is awesome, and also a big reason I bought this camera) but I think it's more aimed at Ubuntu 12.04 so there was one or two extra steps to make it go on 13.10.
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First, regardless of Ubuntu version, you need to add the DepthSense libraries to the LD_LOAD_PATH and the now recommended way is adding a file to /etc/ld.so.conf.d like this
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**/etc/ld.so.conf.d/softkinetic.conf**
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/opt/softkinetic/DepthSenseSDK/lib
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Then run `sudo ldconfig` to regenerate the ld.so cache or what ever. Now you can link agianst the libraries.
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Next, at least for Ubuntu 13.10, you need to fake having libudev.so.0. Thankfully libudev.so.1 worked fine so run
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sudo ln -s /lib/x86_64-linux-gnu/libudev.so.1 /lib/x86_64-linux-gnu/libudev.so.0
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At this point DepthSenseViewer that comes with the SDK should work and you are good to go.
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So today's mission after getting set up was to get some code pulling form the camera and displaying using opencv (because I ultimately want to feed it through [ROS](http://www.ros.org) filters and as was suggested on a [forum post](http://www.softkinetic.com/Support/Forum/tabid/110/forumid/27/threadid/1627/scope/posts/language/en-US/Default.aspx), the best way to hook the DS325 into ROS was through openCV and then the ros opencv bridge). Thankfully I found what I needed on the softkinetic forum in [Example Linux/OpenCV Code to display/store DS325 data](http://www.softkinetic.com/Support/Forum/tabid/110/forumid/32/postid/1597/scope/posts/language/en-US/Default.aspx). The first code needed some slight fixes as detailed in the second (but slightly corrupted formatted) post. With a little poking and proding I had it compiling and working.
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g++ ds_show.cxx -I /opt/softkinetic/DepthSenseSDK/include/ -L /opt/softkinetic/DepthSenseSDK/lib -lDepthSense -lopencv_core -lopencv_highgui
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./a.out
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Not actually that much coding today, but a lot of pieces in place.
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See ds_show.cxx in [references/ds_show.cxx](references/ds_show.cxx)
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