Basic Functions: initialize, create a node and read data

The following code illustrates the basic functionality of OpenNI. It initializes a Context object, creates a single Depth node, and reads data from it.

XnStatus nRetVal = XN_STATUS_OK;

xn::Context context;

// Initialize context object
nRetVal = context.Init();
// TODO: check error code

// Create a DepthGenerator node
xn::DepthGenerator depth;
nRetVal = depth.Create(context);
// TODO: check error code

// Make it start generating data
nRetVal = context.StartGeneratingAll();
// TODO: check error code

// Main loop
while (bShouldRun)
{
    // Wait for new data to be available
    nRetVal = context.WaitOneUpdateAll(depth);
    if (nRetVal != XN_STATUS_OK)
    {
        printf("Failed updating data: %s\n", xnGetStatusString(nRetVal));
        continue;
    }

    // Take current depth map
    const XnDepthPixel* pDepthMap = depth.GetDepthMap();

    // TODO: process depth map
}

// Clean-up
context.Shutdown();