This is the RGBD project.. If you want to download OpenNI , OpenNI2 , LibFreenect , please issue cd 3dparty && ./get_third_party_libs.sh To compile the library issue : mkdir build cd build cmake .. make Due to making things that require OpenNI , OpenNI2 , libFreenect , OpenGL , OpenCV and other stuff by just issuing the make script will stop in the first failure. If you want specific things just type make <tab> and see the specifics that you need for example one might only need the grabber , template module and the acquisition plugin so he could just run make grabber_grabber acquisition_acquisition template_acquisition_shared_library_templateacquisition And this way skip everything else that is irrelevant to him.. Another way to deal with missing dependencies is through the acquisition/acquisition_setup.h file which can deactivate compilation of certain modules.. To compile the tools , if you dont have OpenCV you might not be able to build all of them The project is divided in libraries applications and tools Applications include : a Grabber , which can grab frames from the inputs and save them to disk a Muxer , which can combine 2 frame streams in to a new one and save it to disk a Broadcaster , which can transmit a stream through HTTP protocol a Viewer , which can view a stream a Segmenter , which can discard or label parts of a stream an Editor , which is quite experimental and doesnt do anything for now ;P Tools include : Intrinsic / Extrinsic calibration using opencv Convertors from/to Euler/Quaternions Undistorting images ( intrinsic ) Converting from 16bit PNG depths to PNM Calibrating a camera intrinsics/extrinsics using OpenCV Libraries include : V4L2 acquisition V4L2 Stereo acquisition OpenNI1 acquisition OpenNI2 acquisition libFreenect acquisition OpenGL simulation acquistiion Template acquisition ( from images ) To test it issue ./run_grabber.sh -maxFrames 10 You can select from the modules linked by using them as a parameter.. For example ./run_grabber.sh -maxFrames 10 -module OPENNI1 -to outdir this will grab 10 frames from module OpenNI ( provided it is compiled in ) and write them to grabber/frames/outdir Possible choices for modules are : FREENECT OPENNI1 OPENNI2 OPENGL V4L2 V4L2STEREO TEMPLATE NETWORK <- not working ---------------------------- In order to keep repository sizes small , and If you want to use acquisitionBroadcast you should run ./getBroadcastDependencies.sh to clone the full AmmarServer library instead of the NULL version of the library currently installed To test it try wget http://127.0.0.1:8080/rgb.ppm -O rgb.ppm wget http://127.0.0.1:8080/depth.ppm -O depth.ppm wget -qO- http://127.0.0.1:8080/control.html?seek=10 ---------------------------- Without beeing 100% certain OpenNI installed via ROS may conflict with it being downloaded as a standalone package , there is a script that starts it the ROS way , so if thats your case just run scripts/ROS_StartCamera.sh and then you can start using OpenNI with no problems!