C++ (Linux Platform)

Linux SDK supports AArch64, ARMv7hf, RaspberryPi, i686 and x86-64 hardware platforms, and provides corresponding library files for developers to compile programs. Linux SDK does not provide executable applications, the developers can generate executable applications by compiling sample programs.

The following is an example of setting up the development environment for Percipio depth camera on Linux platform, using Ubuntu 18.04:

Download Camport3 SDK
Install USB Driver
Install Dependencies
Set USB Camera Access Permissions
Compile Sample Programs
Run Sample Programs

Download Camport3 SDK

Choose any of the following methods to download Camport3 SDK:

Access https://github.com/percipioxyz/ using a browser and download the Camport3 SDK.
Use the git command to obtain a local copy: Open the terminal, switch to the directory where the SDK should be stored, and enter the git clone command to clone the remote repository.
```
git clone https://github.com/percipioxyz/camport3.git
```

The directory structure of Camport3 SDK is shown in the following figure:

Doc Directory

It stores the SDK API reference documentation. The documentation is a PDF file generated by Doxygen and includes descriptive information about classes, structures and interfaces.

include Directory

It stores the header files used to call dynamic libraries:

TYImageProc.h: the header file for the image post-processing function interfaces.
TYCoordinateMapper.h: the header file for mapping of image space transformation.
TYApi.h: the header file for configuring the depth camera and obtaining image data. Users can develop their own applications based on these APIs.

lib/linux Directory

It stores library files which support the Linux operating system and are compatible with AArch64, ARMv7hf, RaspberryPi, i686 and x86-64 hardware platforms.

lib/win Directory

It stores library files which support the Windows operating system and are compatible with x64 and x86 hardware platforms.

sample Directory

It contains two subfolders, sample_v1 and sample_v2, both of which include sample programs provided for users to refer to when programming. For more details about the sample programs, please refer to Sample Program Descriptions.

Note

The sample programs in sample_v2 add convenient camera control interfaces on the basis of sample_v1 and provide the option of whether to depend on OpenCV or not.

Install USB Driver

Whether you are using a USB camera or a network camera, installing the USB driver is necessary for compiling and running the Camport SDK.

sudo apt-get install libusb-1.0-0-dev

Install Dependencies

CMake

CMake is a powerful, cross-platform tool tailored for software compilation. It streamlines the build process by enabling developers to define the build procedure in a platform-agnostic way through straightforward statements. CMake is capable of producing a range of makefiles or project files, facilitating the testing of C++ features supported by the compiler, akin to automake in UNIX environments. Notably, CMake’s configuration file is distinctively named CMakeLists.txt. Unlike directly assembling the final software, CMake’s primary role is to generate standardized build files, such as Makefiles for UNIX or projects/workspaces for Windows Visual C++, which are subsequently compiled using alternative tools.

The Camport SDK utilizes CMake to build standard projects. By harnessing the native build systems’ capabilities across different platforms, it can seamlessly adapt to a wide range of platform environments.

sudo apt-get install cmake

Note

Camport SDK requires users to install CMake 2.8.0 or higher versions.

OpenCV

Camport SDK can receive depth data output from Percipio depth cameras via a USB interface or an Ethernet interface. After obtaining the depth data, the sample programs provided in Camport SDK use the OpenCV image processing library to render the depth data. Before compiling the sample programs, it is necessary to install the OpenCV graphics processing library.

sudo apt-get install libopencv-dev

Note

Camport SDK requires users to install OpenCV 2.4.8 or higher versions.
If the target application does not use OpenCV for image display or other image processing calculations, there is no need to install OpenCV.

Set USB Camera Access Permissions

According to the permission management mechanism of Linux system, by default, root permission is required to access the Percipio USB depth camera. Non-root users can create a udev rule to modify the device permissions.

The setup steps are as follows:

In the directory where the etc/udev/rules.d file is located, create a rule file with the extension .rules (such as 88-tyusb.rules).

Note

The beginning of the rule file name must be a number (0 ~ 99), the larger the number, the higher the priority.
```
sudo nano /etc/udev/rules.d/88-tyusb.rules
```
Add the following rules in the rule file. The example below is to add the USB device to the tofu user group.
```
SUBSYSTEM== "usb",ATTRS{idProduct}=="1003",ATTRS{idVendor}=="04b4",GROUP="tofu",MODE="0666"
```
After restarting the PC, access permission to the USB depth camera will be granted.

Compile Sample Programs

Enter the camport3 directory and execute the following command to compile the sample programs.

sudo cp lib/linux/lib_x64/libtycam.so* /usr/lib/
cd sample
mkdir build
cd build
cmake ..
make

If you only need to compile the example programs in sample_v2, then add the following parameters for cmake:

cmake .. -DBUILD_SAMPLES=off

If the example program in sample_v2 does not depend on OpenCV, then add the following parameters for cmake:

cmake .. -DBUILD_SAMPLES=off -DBUILD_SAMPLE_V2_WITH_OPENCV=off

The compiled executable files will be generated in the camport3/sample/build/bin directory.

Run Sample Programs

After connecting to the computer, the depth camera will initiate system initialization. Once the power indicator on the camera begins blinking at a frequency of 1Hz, you can run the following command with root privileges to receive and view real-time depth maps.

sudo ./SimpleView_FetchFrame