Skip to content
This repository hosts code samples to use Terabee 3Dcam 80x60 using the OpenNI 2 framework on Linux.
Branch: master
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Type Name Latest commit message Commit time
Failed to load latest commit information.


The purpose of this README is to give guidelines for developing applications with Terabee 3Dcam 80x60 using the OpenNI 2 framework on Linux.

For more information about the Terabee 3Dcam 80x60, please click here.

System Requirements

  • Ubuntu 14.04 or Ubuntu 16.04

Prepare software development environment

Install OpenCV

In order to use the SDK, installing OpenCV with the right version is mandatory. In the repository are included scripts that will help you install OpenCV on your system. Depending on your OS, you will have to run the relevant script as follows:

  • If you are using Ubuntu 16.04, please install OpenCV 3.1.0:
  • If you are using Ubuntu 14.04, please install OpenCV 2.4.11:

Install USB-1.0 library

sudo apt-get install libusb-1.0-0

Install Terabee 3Dcam SDK

  • Download the Linux SDK from the Downloads section of Terabee 3Dcam here.

  • Extract the content of the archive (relevant to your system architecture and desired OpenNI version) in the directory of your choice

  • Enter the SDK folder and install the SDK with root permission

sudo ./

Start developing your application

To get started with your application development, we provide sample codes to help you initiate your development. The following steps provide instructions on how to download and run sample codes.

Install Git

If Git is not installed on your computer you can install it using the following command:

sudo apt-get install git-core

Clone sample code

Clone the project into the SDK folder.

git clone Terabee_samples

Build Samples


This sample will show you how to access camera data and display it into a window.

To compile it, use the following commands:

cd Terabee_samples/DepthViewer
cp -r ../../Redist/* .
cp ../../Tools/OpenNI2/Drivers/ OpenNI2/Drivers/
CXX=g++ make

Now to run the program, just use the following command:


Build your own application

Taking as example the sample we provide, you can start to develop your own application. Depending on your case, you will need to adapt some items in the Makefile. For instance:

  • Append the source files name to SRC
  • According the path related to SDK, modify the CPPFLAGS and LDFLAGS appropriately. i.e., you may need to add -I and -L to the correct location.

Redist folder

In order to run your custom application, you have to copy:

  • the content of the Redist folder (available in the SDK folder) to your execution folder.
  • the Terabee module driver library ( from <SDK folder>/Tools/OpenNI2 to DepthViewer/OpenNI2/Drivers you just copied from inside the Redist folder.
You can’t perform that action at this time.
You signed in with another tab or window. Reload to refresh your session. You signed out in another tab or window. Reload to refresh your session.