Doubt to build OpenNI2-FreenectDriver and OpenNI-Linux-x86-2.2.0.33

Hi all, First excuse my English. I hope that we can understand.

I saw a few days ago a new version of libfreenect (libfreenect v0.3.0 Nucleus).

I have installed Ubuntu 12.04.03 LTS (32 bits). I want to install:

libfreenect v0.3.0 Nucleus
OpenNI-Linux-x86-2.2.0.33
NiTE-Linux-x86-2.2
opencv-2.4.8

When I install libfreenect, follow these steps:

sudo apt-get install git-core cmake freeglut3-dev pkg-config build-essential libxmu-dev libxi-dev libusb-1.0-0-dev
cd libfreenect-master
mkdir build
cd build
cmake .. -DBUILD_OPENNI2_DRIVER=ON
make
sudo make install
sudo ldconfig /usr/local/lib64/

My first question is: Is this correct?

My second question is: /usr/local/lib64/ in 32 bits, this directory does not exist. Should I use that directory?

My third question is: I have seen that there is a folder /home/user/Kinect/libfreenect-master/OpenNI2-FreenectDriver/extern/OpenNI-Linux-x64-2.2.0.33/ Should I make any changes? I remind you that I am using 32 bits

My last question is: In this step, Copy the driver to your OpenNI2 driver repository.

Repository="/example/path/to/Samples/Bin/OpenNI2/Drivers/"
cp -L /home/user/Kinect/libfreenect-master/build/lib/OpenNI2-FreenectDriver/libFreenectDriver.so.0.3.0 ${Repository}

"/example/path/to/Samples/Bin/OpenNI2/Drivers/" not exist

I should copy libFreenectDriver.so.0.3.0 in: /home/user/Kinect/OpenNI-Linux-x86-2.2.0.33/Include/Driver/ /home/user/Kinect/OpenNI-Linux-x86-2.2.0.33/Redist/OpenNI2/Drivers/ /home/user/Kinect/OpenNI-Linux-x86-2.2.0.33/Samples/Bin/OpenNI2/Drivers /home/user/Kinect/OpenNI-Linux-x86-2.2.0.33/Tools/OpenNI2/Drivers/

Thank you very much to all. And excuse me. A greeting.

Your compilation steps are correct.
/usr/local/lib should be a symlink to the correct lib folder, so run sudo ldconfig /usr/local/lib.
Don't worry about the OpenNI-Linux-x64 naming - I have included only the headers, which are not platform-specific.
You must copy libFreenectDriver.so to Redist/OpenNI2/Drivers/ if you wish to package it in your redistributable application. If you wish to simply run the OpenNI2 samples, you must copy it to Samples/Bin/OpenNI2/Drivers. Note that OpenNI2 will only load drivers that end with .so.

Hello piedar, you've been very kind. Thank you very much for your help.

I have one question. Does this application (libfreenect v0.3.0 Nucleus) contains OpenNI2?

Excuse me if I have done some stupid question.

Thank you very much. A greeting.

libfreenect contains only the header files from OpenNI2. They are necessary to build OpenNI2-FreenectDriver, which implements driver types defined in those headers. To actually get OpenNI2, you must download it or build from source.

Hello piedar. Thank you very much for your answer.

When I run "make":

cd libfreenect
mkdir build
cd build
cmake .. -DBUILD_OPENNI2_DRIVER=ON
make

I get this:

[ 93%] Building CXX object OpenNI2-FreenectDriver/CMakeFiles/FreenectDriver.dir/src/DeviceDriver.cpp.o
In file included from /home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:9:0,
                 from /home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DeviceDriver.cpp:21:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp: En la función miembro ‘virtual OniStatus FreenectDriver::VideoStream::getProperty(int, void*, int*)’:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp:111:84: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp:119:85: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp:128:79: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp: En la función miembro ‘virtual OniStatus FreenectDriver::VideoStream::setProperty(int, const void*, int)’:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp:154:82: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp:165:81: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp:175:77: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
In file included from /home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DeviceDriver.cpp:21:0:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp: En la función miembro ‘virtual OniStatus FreenectDriver::DepthStream::getProperty(int, void*, int*)’:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:92:77: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:99:77: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:106:75: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:124:90: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:131:90: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:138:90: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:145:90: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:152:90: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:159:90: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:166:78: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:173:78: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
In file included from /home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DeviceDriver.cpp:22:0:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/ColorStream.hpp: En la función miembro ‘virtual OniStatus FreenectDriver::ColorStream::getProperty(int, void*, int*)’:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/ColorStream.hpp:66:77: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/ColorStream.hpp:76:77: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/ColorStream.hpp:88:79: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/ColorStream.hpp:98:79: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/ColorStream.hpp: En la función miembro ‘virtual OniStatus FreenectDriver::ColorStream::setProperty(int, const void*, int)’:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/ColorStream.hpp:119:77: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/ColorStream.hpp:130:77: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DeviceDriver.cpp: En la función miembro ‘virtual OniStatus FreenectDriver::Device::getProperty(int, void*, int*)’:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DeviceDriver.cpp:129:96: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DeviceDriver.cpp: En la función miembro ‘virtual OniStatus FreenectDriver::Device::setProperty(int, const void*, int)’:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DeviceDriver.cpp:166:94: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
En el ámbito global:
cc1plus: aviso: no se reconoce la opción de línea de órdenes "-Wno-gnu-static-float-init" [activado por defecto]
[ 96%] Building CXX object OpenNI2-FreenectDriver/CMakeFiles/FreenectDriver.dir/src/ColorStream.cpp.o
In file included from /home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/ColorStream.hpp:7:0,
                 from /home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/ColorStream.cpp:1:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp: En la función miembro ‘virtual OniStatus FreenectDriver::VideoStream::getProperty(int, void*, int*)’:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp:111:84: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp:119:85: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp:128:79: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp: En la función miembro ‘virtual OniStatus FreenectDriver::VideoStream::setProperty(int, const void*, int)’:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp:154:82: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp:165:81: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp:175:77: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
In file included from /home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/ColorStream.cpp:1:0:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/ColorStream.hpp: En la función miembro ‘virtual OniStatus FreenectDriver::ColorStream::getProperty(int, void*, int*)’:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/ColorStream.hpp:66:77: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/ColorStream.hpp:76:77: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/ColorStream.hpp:88:79: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/ColorStream.hpp:98:79: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/ColorStream.hpp: En la función miembro ‘virtual OniStatus FreenectDriver::ColorStream::setProperty(int, const void*, int)’:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/ColorStream.hpp:119:77: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/ColorStream.hpp:130:77: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
En el ámbito global:
cc1plus: aviso: no se reconoce la opción de línea de órdenes "-Wno-gnu-static-float-init" [activado por defecto]
[100%] Building CXX object OpenNI2-FreenectDriver/CMakeFiles/FreenectDriver.dir/src/DepthStream.cpp.o
In file included from /home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:9:0,
                 from /home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.cpp:1:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp: En la función miembro ‘virtual OniStatus FreenectDriver::VideoStream::getProperty(int, void*, int*)’:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp:111:84: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp:119:85: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp:128:79: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp: En la función miembro ‘virtual OniStatus FreenectDriver::VideoStream::setProperty(int, const void*, int)’:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp:154:82: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp:165:81: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/VideoStream.hpp:175:77: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
In file included from /home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.cpp:1:0:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp: En la función miembro ‘virtual OniStatus FreenectDriver::DepthStream::getProperty(int, void*, int*)’:
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:92:77: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:99:77: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:106:75: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:124:90: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:131:90: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:138:90: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:145:90: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:152:90: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:159:90: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:166:78: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
/home/jfra/Kinect/libfreenect-master/OpenNI2-FreenectDriver/src/DepthStream.hpp:173:78: aviso: formato ‘%lu’ espera un argumento de tipo ‘long unsigned int’, pero el argumento 3 es de tipo ‘unsigned int’ [-Wformat]
En el ámbito global:
cc1plus: aviso: no se reconoce la opción de línea de órdenes "-Wno-gnu-static-float-init" [activado por defecto]
Linking CXX shared library ../lib/OpenNI2-FreenectDriver/libFreenectDriver.so
[100%] Built target FreenectDriver

Is this normal?

Thank you very much. A greeting.

Those warnings indicate that printf format specifiers are wrong. This may be because you have 32 bits and I have 64. The warnings will not cause any problems, but I will see if I can switch to cout to avoid them.

Hello piedar. Thank you very much for your answer. I modified all the files in the path /libfreenect-master/OpenNI2-FreenectDriver/src/.

I changed printf to cout. For example:

printf("Unexpected size: %d != %lu\n", *pDataSize, sizeof(OniVideoMode));
std::cout << "Unexpected size: " << *pDataSize << " != " << sizeof(OniVideoMode) << std::endl;

As soon as I get home I try. If you want the modified files, tell me.

On the other hand. And this warning?

En el ámbito global:
cc1plus: aviso: no se reconoce la opción de línea de órdenes "-Wno-gnu-static-float-init" [activado por defecto]

I have seen the file /libfreenect-master/OpenNI2-FreenectDriver/CMakeList.txt

######################################################################################
# OpenNI2-FreenectDriver
######################################################################################

file(GLOB SOURCES src/*.cpp)
add_library(FreenectDriver SHARED ${SOURCES})

set(CMAKE_CXX_FLAGS "-Wno-gnu-static-float-init -Wno-unused-function")

set(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib/OpenNI2-FreenectDriver)
set_target_properties( FreenectDriver PROPERTIES
  VERSION ${PROJECT_VER}
  SOVERSION ${PROJECT_APIVER}
  OUTPUT_NAME FreenectDriver)

include_directories(extern/OpenNI-Linux-x64-2.2.0.33/Include)
include_directories(${PROJECT_SOURCE_DIR}/wrappers/cpp)

target_link_libraries(FreenectDriver freenectstatic ${MATH_LIB})

install (TARGETS FreenectDriver
  DESTINATION "${PROJECT_LIBRARY_INSTALL_DIR}/OpenNI2-FreenectDriver")

Do I have to change something? Do I need to install something?

Thank you very much. A greeting.

Hola piedar, I have tested the changes I've made on files. When I run make:

jfra@negro-L755:~/Kinect/libfreenect-master/build$ make
Scanning dependencies of target freenect
[  3%] Building C object src/CMakeFiles/freenect.dir/core.c.o
[  6%] Building C object src/CMakeFiles/freenect.dir/tilt.c.o
/home/jfra/Kinect/libfreenect-master/src/tilt.c:57:12: aviso: se define ‘tag_seq’ pero no se usa [-Wunused-variable]
[ 10%] Building C object src/CMakeFiles/freenect.dir/cameras.c.o
[ 13%] Building C object src/CMakeFiles/freenect.dir/flags.c.o
/home/jfra/Kinect/libfreenect-master/src/flags.c:35:1: aviso: se descarta el atributo ‘visibility’ [-Wattributes]
[ 17%] Building C object src/CMakeFiles/freenect.dir/usb_libusb10.c.o
[ 20%] Building C object src/CMakeFiles/freenect.dir/registration.c.o
[ 24%] Building C object src/CMakeFiles/freenect.dir/keep_alive.c.o
Linking C shared library ../lib/libfreenect.so
[ 24%] Built target freenect
Scanning dependencies of target freenectstatic
[ 27%] Building C object src/CMakeFiles/freenectstatic.dir/core.c.o
[ 31%] Building C object src/CMakeFiles/freenectstatic.dir/tilt.c.o
/home/jfra/Kinect/libfreenect-master/src/tilt.c:57:12: aviso: se define ‘tag_seq’ pero no se usa [-Wunused-variable]
[ 34%] Building C object src/CMakeFiles/freenectstatic.dir/cameras.c.o
[ 37%] Building C object src/CMakeFiles/freenectstatic.dir/flags.c.o
/home/jfra/Kinect/libfreenect-master/src/flags.c:35:1: aviso: se descarta el atributo ‘visibility’ [-Wattributes]
[ 41%] Building C object src/CMakeFiles/freenectstatic.dir/usb_libusb10.c.o
[ 44%] Building C object src/CMakeFiles/freenectstatic.dir/registration.c.o
[ 48%] Building C object src/CMakeFiles/freenectstatic.dir/keep_alive.c.o
Linking C static library ../lib/libfreenect.a
[ 48%] Built target freenectstatic
Scanning dependencies of target chunkview
[ 51%] Building C object examples/CMakeFiles/chunkview.dir/chunkview.c.o
Linking C executable ../bin/chunkview
[ 51%] Built target chunkview
Scanning dependencies of target freenect_sync
[ 55%] Building C object wrappers/c_sync/CMakeFiles/freenect_sync.dir/libfreenect_sync.c.o
Linking C shared library ../../lib/libfreenect_sync.so
[ 55%] Built target freenect_sync
Scanning dependencies of target glpclview
[ 58%] Building C object examples/CMakeFiles/glpclview.dir/glpclview.c.o
Linking C executable ../bin/glpclview
[ 58%] Built target glpclview
Scanning dependencies of target glview
[ 62%] Building C object examples/CMakeFiles/glview.dir/glview.c.o
Linking C executable ../bin/glview
[ 62%] Built target glview
Scanning dependencies of target hiview
[ 65%] Building C object examples/CMakeFiles/hiview.dir/hiview.c.o
Linking C executable ../bin/hiview
[ 65%] Built target hiview
Scanning dependencies of target regtest
[ 68%] Building C object examples/CMakeFiles/regtest.dir/regtest.c.o
Linking C executable ../bin/regtest
[ 68%] Built target regtest
Scanning dependencies of target regview
[ 72%] Building C object examples/CMakeFiles/regview.dir/regview.c.o
Linking C executable ../bin/regview
[ 72%] Built target regview
Scanning dependencies of target tiltdemo
[ 75%] Building C object examples/CMakeFiles/tiltdemo.dir/tiltdemo.c.o
Linking C executable ../bin/tiltdemo
[ 75%] Built target tiltdemo
Scanning dependencies of target fakenect
[ 79%] Building C object fakenect/CMakeFiles/fakenect.dir/fakenect.c.o
Linking C shared library ../lib/fakenect/libfreenect.so
[ 79%] Built target fakenect
Scanning dependencies of target record
[ 82%] Building C object fakenect/CMakeFiles/record.dir/record.c.o
Linking C executable ../bin/record
[ 82%] Built target record
Scanning dependencies of target freenect_sync_static
[ 86%] Building C object wrappers/c_sync/CMakeFiles/freenect_sync_static.dir/libfreenect_sync.c.o
Linking C static library ../../lib/libfreenect_sync.a
[ 86%] Built target freenect_sync_static
Scanning dependencies of target cppview
[ 89%] Building CXX object wrappers/cpp/CMakeFiles/cppview.dir/cppview.cpp.o
Linking CXX executable ../../bin/cppview
[ 89%] Built target cppview
Scanning dependencies of target FreenectDriver
[ 93%] Building CXX object OpenNI2-FreenectDriver/CMakeFiles/FreenectDriver.dir/src/DeviceDriver.cpp.o
[ 96%] Building CXX object OpenNI2-FreenectDriver/CMakeFiles/FreenectDriver.dir/src/ColorStream.cpp.o
[100%] Building CXX object OpenNI2-FreenectDriver/CMakeFiles/FreenectDriver.dir/src/DepthStream.cpp.o
Linking CXX shared library ../lib/OpenNI2-FreenectDriver/libFreenectDriver.so
[100%] Built target FreenectDriver

Are these four warnings are problematic?

/home/jfra/Kinect/libfreenect-master/src/tilt.c:57:12: aviso: se define ‘tag_seq’ pero no se usa [-Wunused-variable]
/home/jfra/Kinect/libfreenect-master/src/flags.c:35:1: aviso: se descarta el atributo ‘visibility’ [-Wattributes]
/home/jfra/Kinect/libfreenect-master/src/tilt.c:57:12: aviso: se define ‘tag_seq’ pero no se usa [-Wunused-variable]
/home/jfra/Kinect/libfreenect-master/src/flags.c:35:1: aviso: se descarta el atributo ‘visibility’ [-Wattributes]

Thank you very much. A greeting.

Hello piedar, I am testing the samples of OpenNI-Linux-x86-2.2.0.33 and not run.

For example, the sample ClosestPointViewer show:

Update failed
Update failed
Update failed
...
Update failed

Thank you very much. A greeting.

The four warnings are harmless. Two are due a variable declared outside an #ifdef BUILD_AUDIO block and I think the other two are caused by a function being both static and hidden.

I have no error output for ClosestPointViewer. Does SimpleViewer work?

Hello piedar, thank you very much for your answer. The sample SimpleViewer show:

After initialization:

and a black window, and displays nothing.

With the sample ClosestPointViewer and MWClosestPointApp show:

Update failed
Update failed
...
Update failed

and a black windows and display nothing. With the sample EventBasedRead, MultipleStreamRead and SimpleRead show data to the console. For example in SimpleRead show:

[994502409]      691
[996504564]      687
[998506719]      680
[1000508874]      675
[1002511029]      670
[1004513184]      665
[1006515339]      645
[1008517494]      638
[1010519649]      634
[1012521804]      629
...
[1014523959]      625
[1016526114]        0
[1018528269]        0
[1020530424]        0

tiltdemo and glview working properly.

I don't know what happen.

Thank you very much. A greeting.

It could be that ClosestPointViewer is looking for data faster than libfreenect serves it up. I turned on FREENECT_LOG_DEBUG in the latest 8d8558f. Do you see any messages about dropped frames? They look like this:

[Stream 70] Expected max 1748 data bytes, but got 1908. Dropping...

Hello piedar, thank you very much for your answer.

I have run the sample ClosestPointViewer with the new changes you've done and the console show:

jfra@negro-L755:~/kinect/OpenNI-Linux-x86-2.2/Samples/Bin$ ./ClosestPointViewer 
write_register: 0x0105 <= 0x00
write_register: 0x0006 <= 0x00
write_register: 0x0012 <= 0x03
write_register: 0x0013 <= 0x01
write_register: 0x0014 <= 0x1e
write_register: 0x0006 <= 0x02
write_register: 0x0017 <= 0x00
write_register: 0x0006 <= 0x00
write_register: 0x0105 <= 0x00
write_register: 0x0006 <= 0x00
write_register: 0x0012 <= 0x03
write_register: 0x0013 <= 0x01
write_register: 0x0014 <= 0x1e
write_register: 0x0006 <= 0x02
write_register: 0x0017 <= 0x00
Update failed
Update failed
Update failed
...
Update failed
Update failed
Update failed

And SimpleViewer show:

jfra@negro-L755:~/kinect/OpenNI-Linux-x86-2.2/Samples/Bin$ ./SimpleViewer 
After initialization:

write_register: 0x0105 <= 0x00
write_register: 0x0006 <= 0x00
write_register: 0x0012 <= 0x03
write_register: 0x0013 <= 0x01
write_register: 0x0014 <= 0x1e
write_register: 0x0006 <= 0x02
write_register: 0x0017 <= 0x00
write_register: 0x0006 <= 0x00
write_register: 0x0105 <= 0x00
write_register: 0x0006 <= 0x00
write_register: 0x0012 <= 0x03
write_register: 0x0013 <= 0x01
write_register: 0x0014 <= 0x1e
write_register: 0x0006 <= 0x02
write_register: 0x0017 <= 0x00
write_register: 0x000c <= 0x00
write_register: 0x000d <= 0x01
write_register: 0x000e <= 0x1e
write_register: 0x0005 <= 0x01
write_register: 0x0047 <= 0x00
jfra@negro-L755:~/kinect/OpenNI-Linux-x86-2.2/Samples/Bin$

The window shows nothing. The background is black.

Thank you very much. A greeting.

I don't really know where to go from here. I suppose you could try setting Verbosity=0 in OpenNI.ini.

Hello piedar, thank you very much for your answer. I modified the file OpenNi.ini:

[Log]
; 0 - Verbose; 1 - Info; 2 - Warning; 3 - Error. Default - None
Verbosity=0
LogToConsole=0
LogToFile=0

[Device]
;Override=""

[Drivers]
; Location of the drivers specified by a relative path based on OpenNI's shared library or an absolute path.
; Path separator "/" can be used to be portable for any platforms.
; Default - OpenNI2/Drivers
;Repository=OpenNI2/Drivers

and I have run the sample SimpleViewer and the console only shows:

jfra@negro-L755:~/kinect/OpenNI-Linux-x86-2.2/Samples/Bin$ ./SimpleViewer
After initialization:

write_register: 0x0105 <= 0x00
write_register: 0x0006 <= 0x00
write_register: 0x0012 <= 0x03
write_register: 0x0013 <= 0x01
write_register: 0x0014 <= 0x1e
write_register: 0x0006 <= 0x02
write_register: 0x0017 <= 0x00
write_register: 0x0006 <= 0x00
write_register: 0x0105 <= 0x00
write_register: 0x0006 <= 0x00
write_register: 0x0012 <= 0x03
write_register: 0x0013 <= 0x01
write_register: 0x0014 <= 0x1e
write_register: 0x0006 <= 0x02
write_register: 0x0017 <= 0x00
write_register: 0x000c <= 0x00
write_register: 0x000d <= 0x01
write_register: 0x000e <= 0x1e
write_register: 0x0005 <= 0x01
[Stream 70] Invalid magic 8eff
[Stream 70] Invalid magic 8eff
[Stream 70] Invalid magic 8eff
[Stream 70] Invalid magic 90ff
[Stream 70] Invalid magic 8fff
[Stream 70] Invalid magic 91ff
[Stream 70] Lost 9 packets
[Stream 70] Lost too many packets, resyncing...
write_register: 0x0047 <= 0x00

The window shows nothing. The background is black. Thank you very much. A greeting.

Aha! I managed to reproduce this on an x86 netbook with Intel Atom N280. It looks like the CPU can't keep up with the USB transfers coming from the Kinect. glview drops a lot of frames and SimpleViewer freezes up after dropping about 12 frames.

What is your CPU? Can you try on a more powerful machine?

It does not help that FreenectDriver makes a full copy of libfreenect's buffer. This probably cannot be avoided - using the same buffer results in memory corruption when libfreenect and OpenNI2 both try to free it.

Hello piedar, thank you very much for your answer. I'm using a Toshiba Satellite L755-1J9 with the following components:

Intel® Core™ i5-2450M (2.50 / 3.10 Turbo GHz, FSB: 1333 MHz, 3 MB Cache)
Samsung 16 GB (8 GB x 2) DDR3 RAM (1,333 MHz) Dual Channel
Samsung SSD 840 EVO 120 GB (SATA 6Gb/s compatible with 3Gb/s)
Toshiba SATA 640 GB 5,400 rpm
NVIDIA® GeForce® GT 520M with CUDA technology (1GB DDR3 VRAM)

Since I can not work with current versions, I am working with older versions:

libfreenect-master
OpenNI2-FreenectDriver-master (libfreenect.so.0.1.2)
NiTE-2.0.0
opencv-2.4.5

and they work correctly.

What do you think?

Thank you very much. A greeting.

Strange that the old version works. I took a diff between them and I don't see anything obvious that would cause this. I will try some more things with my x86 netbook.

Hello piedar, thank you very much for your answer.

I am attaching the link that contains the files that I'm working on:

libfreenect-master
OpenNI2-FreenectDriver-master (libfreenect.so.0.1.2)
NiTE-2.0.0
opencv-2.4.5

https://www.dropbox.com/sh/rssnm7tbryrjpy8/Mbqd_4s2VY

I also do not understand what may be happening.

Thank you very much. A greeting.

I think I've got it! The C++ wrapper libfreenect.hpp stops and restarts the depth stream when you call setDepthFormat() (whether it was already running or not!). In DeviceDriver.cpp, I start the depth stream then immediately construct a FreenectDriver::DepthStream, which calls setDepthFormat(), stopping and starting depth . Somehow this confuses OpenNI2 and SimpleViewer fails to show depth.

I am still not sure why the old version works for you; it had the same flaw. But depth is now working on my netbook as of 62f0a0d. Please give it a go.

Hello piedar, thank you very much for your answer. Congratulations, you have found the problem. All examples work correctly. I can already work with:

libfreenect v0.4.0 Oracle (with libFreenectDriver.so.0.4.0)
OpenNI 2.2.0.33 Beta (Linux x86)
NiTE 2.2.0.11 (Linux x86)

Thank you very much. A greeting.

OpenKinect / libfreenect

Doubt to build OpenNI2-FreenectDriver and OpenNI-Linux-x86-2.2.0.33 #364