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A Visual C++ project to test run theOpenCV DNN object detection withRealSense camera. The GUI utilizes a modified version of gorgeousnanogui and useOpenGL shader to render video streams.

TheDeep Neural Network part of codes are derived fromMobileNet Single-Shot Detector example ofOpenCV. The trainedCaffe model (included in projectresources) is loaded at the beginning and used to classify 20 object classes from RGB image. Note that only the center square ROI is the hot detecting spot, the unused side bands shall turn gray by design. For each detected object, the distance is estimated from its detected location within corresponding depth frame.

A test run video captured from screen is available on YouTubehere.

This VC++ project rely on the integration environment ofvcpkg ports. Follow theinstruction to install vcpkg and run.\vcpkg integrate install, then install following dependency ports with.\vcpkg install <port_name>:x64-windows:

• opencv
• realsense2
• poco
• eigen3
• stb
• glfw3

, whereeigen3,glfw3, andstb ports need to setup additional static liked packages fornanogui to build. Please create a file"x64-windows-static-md.cmake" invcpkg/triplets folder with the following contents,

set(VCPKG_TARGET_ARCHITECTURE x64)set(VCPKG_CRT_LINKAGE dynamic)set(VCPKG_LIBRARY_LINKAGE static)

, then install these three ports with.\vcpkg install <port_name>:x64-windows-static-md.